pycvxset: A Python package for convex set manipulation

TL;DR

pycvxset is a Python package that simplifies manipulation and visualization of convex sets like polytopes and ellipsoids, supporting various representations and set operations for applications in dynamical systems.

Contribution

It introduces pycvxset, a comprehensive Python library supporting convex set operations with efficient representations and integrations for system analysis.

Findings

Supports multiple convex set representations including constrained zonotopes.

Uses CVXPY and pycddlib for efficient set operations and enumeration.

Facilitates analysis and control of dynamical systems in Python.

Abstract

This paper introduces pycvxset, a new Python package to manipulate and visualize convex sets. We support polytopes and ellipsoids, and provide user-friendly methods to perform a variety of set operations. For polytopes, pycvxset supports the standard halfspace/vertex representation as well as the constrained zonotope representation. The main advantage of constrained zonotope representations over standard halfspace/vertex representations is that constrained zonotopes admit closed-form expressions for several set operations. pycvxset uses CVXPY to solve various convex programs arising in set operations, and uses pycddlib to perform vertex-halfspace enumeration. We demonstrate the use of pycvxset in analyzing and controlling dynamical systems in Python. pycvxset is available at https://github.com/merlresearch/pycvxset under the AGPL-3.0-or-later license, along with documentation and examples.