Guaranteed Reachability for Systems with Unknown Dynamics

TL;DR

This paper introduces a method to estimate the guaranteed reachability set of control systems with unknown dynamics using only local information and bounds on dynamics variation, enhancing safety-critical planning.

Contribution

It develops a novel approach to approximate the guaranteed reachability set based on local dynamics and bounds, applicable to systems with incomplete knowledge.

Findings

The method provides a meaningful underapproximation of the guaranteed reachability set.

Numerical examples demonstrate the approach's effectiveness in simple control systems.

The approach can potentially match the true guaranteed reachability set in practice.

Abstract

The problem of computing the reachable set for a given system is a quintessential question in nonlinear control theory. While previous work has yielded a plethora of approximate and analytical methods for determining such a set, these methods naturally require the knowledge of the controlled system dynamics throughout the state space. In contrast to such classical methods, this paper considers the question of estimating the reachable set of a control system using only the knowledge of local system dynamics at a single point and a bound on the rate of change of dynamics. Namely, motivated by the need for safety-critical planning for systems with unknown dynamics, we consider the problem of describing the guaranteed reachability set: the set of all states that are guaranteed to be reachable regardless of the true system dynamics, given the current knowledge about the system. We show that such a set can be underapproximated by a reachable set of a related known system whose dynamics at every state depend on the velocity vectors that are guaranteed to all control systems consistent with the assumed knowledge. Complementing the theory, numerical examples of a single-dimensional control system and a simple model of an aircraft in distress verify that such an underapproximation is meaningful in practice, and may indeed equal the desired guaranteed reachability set.