Certified Zonotopic Reachability Analysis for Trajectory Tracking on Lie Groups
Overview
This research paper introduces a certified zonotopic reachability analysis method for trajectory tracking on Lie groups, addressing safety certification under unknown disturbances. The authors propose propagating linear error dynamics with zonotopes while enclosing nonlinear effects in closed form, achieving tighter bounds than existing ellipsoid methods. Validated through simulations of planar aircraft and multirotors, as well as real flights of a quadrotor, the method ensures all reachable tracking errors are contained within the computed tubes, even under larger disturbances where traditional ellipsoid approaches fail.
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- arXiv Robotics — research abstractsSignalCertified Zonotopic Reachability Analysis for Trajectory Tracking on Lie Groups
This research paper introduces a certified zonotopic reachability analysis method for trajectory tracking on Lie groups, addressing safety certification under unknown disturbances. The authors propose propagating linear error dynamics with zonotopes while enclosing nonlinear effects in closed form, achieving tighter bounds than existing ellipsoid methods. Validated through simulations of planar aircraft and multirotors, as well as real flights of a quadrotor, the method ensures all reachable tracking errors are contained within the computed tubes, even under larger disturbances where traditional ellipsoid approaches fail.
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