{"id":"https://openalex.org/W4404862468","doi":"https://doi.org/10.1109/tac.2025.3586777","title":"Convex Hulls of Reachable Sets","display_name":"Convex Hulls of Reachable Sets","publication_year":2025,"publication_date":"2025-07-07","ids":{"openalex":"https://openalex.org/W4404862468","doi":"https://doi.org/10.1109/tac.2025.3586777"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2025.3586777","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2025.3586777","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04802505","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085222818","display_name":"Thomas Lew","orcid":"https://orcid.org/0000-0002-8209-3604"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]},{"id":"https://openalex.org/I917207718","display_name":"Toyota Industries (United States)","ror":"https://ror.org/0132ebr60","country_code":"US","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210145315","https://openalex.org/I917207718"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Thomas Lew","raw_affiliation_strings":["Toyota Research Institute, Los Altos, CA, USA","Toyota Research Institute, Los Altos, USA"],"raw_orcid":"https://orcid.org/0000-0002-8209-3604","affiliations":[{"raw_affiliation_string":"Toyota Research Institute, Los Altos, CA, USA","institution_ids":["https://openalex.org/I917207718","https://openalex.org/I4391768151"]},{"raw_affiliation_string":"Toyota Research Institute, Los Altos, USA","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011388253","display_name":"Riccardo Bonalli","orcid":"https://orcid.org/0000-0003-2561-1804"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Riccardo Bonalli","raw_affiliation_strings":["Laboratory of Signals and Systems, Paris-Saclay University, CNRS, CentraleSup&#x00E9;lec, Gif-sur-Yvette, France","Laboratory of Signals &amp; Systems, Paris-Saclay University, CNRS, CentraleSup&#x00E9;lec, France"],"raw_orcid":"https://orcid.org/0000-0003-2561-1804","affiliations":[{"raw_affiliation_string":"Laboratory of Signals and Systems, Paris-Saclay University, CNRS, CentraleSup&#x00E9;lec, Gif-sur-Yvette, France","institution_ids":["https://openalex.org/I4210107720","https://openalex.org/I277688954","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Laboratory of Signals &amp; Systems, Paris-Saclay University, CNRS, CentraleSup&#x00E9;lec, France","institution_ids":["https://openalex.org/I4210107720"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050003000","display_name":"Marco Pavone","orcid":"https://orcid.org/0000-0002-0206-4337"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco Pavone","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","Department of Aeronautics &amp; Astronautics, Stanford University, Stanford, USA"],"raw_orcid":"https://orcid.org/0000-0002-0206-4337","affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Aeronautics &amp; Astronautics, Stanford University, Stanford, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5085222818"],"corresponding_institution_ids":["https://openalex.org/I4391768151","https://openalex.org/I917207718"],"apc_list":null,"apc_paid":null,"fwci":2.5402,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.87763131,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"70","issue":"12","first_page":"8195","last_page":"8209"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10545","display_name":"Optimization and Variational Analysis","score":0.9014999866485596,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10545","display_name":"Optimization and Variational Analysis","score":0.9014999866485596,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hull","display_name":"Hull","score":0.7194550037384033},{"id":"https://openalex.org/keywords/convex-hull","display_name":"Convex hull","score":0.6463629603385925},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5884104371070862},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.518078088760376},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.43271011114120483},{"id":"https://openalex.org/keywords/convex-set","display_name":"Convex set","score":0.42867594957351685},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.32500526309013367},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.30201178789138794},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.1934647560119629},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1814294457435608},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.08309856057167053}],"concepts":[{"id":"https://openalex.org/C37423430","wikidata":"https://www.wikidata.org/wiki/Q6750281","display_name":"Hull","level":2,"score":0.7194550037384033},{"id":"https://openalex.org/C206194317","wikidata":"https://www.wikidata.org/wiki/Q1138624","display_name":"Convex hull","level":3,"score":0.6463629603385925},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5884104371070862},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.518078088760376},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.43271011114120483},{"id":"https://openalex.org/C49870271","wikidata":"https://www.wikidata.org/wiki/Q193657","display_name":"Convex set","level":4,"score":0.42867594957351685},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.32500526309013367},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.30201178789138794},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.1934647560119629},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1814294457435608},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.08309856057167053}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tac.2025.3586777","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2025.3586777","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-04802505v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04802505","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control, 2025, Early Access, pp.1-16","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04802505v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04802505","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control, 2025, Early Access, pp.1-16","raw_type":"Journal articles"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5651149180","display_name":null,"funder_award_id":"ANR-22-CE48-0006","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null},{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W172589331","https://openalex.org/W306903215","https://openalex.org/W1510867725","https://openalex.org/W1538215585","https://openalex.org/W1557324374","https://openalex.org/W1567387488","https://openalex.org/W1571966798","https://openalex.org/W1587799944","https://openalex.org/W1595765050","https://openalex.org/W1726255445","https://openalex.org/W1971714027","https://openalex.org/W2005624737","https://openalex.org/W2008971212","https://openalex.org/W2024171867","https://openalex.org/W2031367292","https://openalex.org/W2036948612","https://openalex.org/W2056261501","https://openalex.org/W2065798383","https://openalex.org/W2093908927","https://openalex.org/W2095058325","https://openalex.org/W2096326343","https://openalex.org/W2116554046","https://openalex.org/W2118291459","https://openalex.org/W2132394594","https://openalex.org/W2158451642","https://openalex.org/W2161553072","https://openalex.org/W2169182864","https://openalex.org/W2480459371","https://openalex.org/W2503277810","https://openalex.org/W2769646558","https://openalex.org/W2774589618","https://openalex.org/W2892521964","https://openalex.org/W2896405912","https://openalex.org/W2914086653","https://openalex.org/W3084175831","https://openalex.org/W3107034996","https://openalex.org/W3120545141","https://openalex.org/W3125305553","https://openalex.org/W4206101760","https://openalex.org/W4211030719","https://openalex.org/W4285742444","https://openalex.org/W4391020208","https://openalex.org/W4401950044","https://openalex.org/W4408563935"],"related_works":["https://openalex.org/W2374624997","https://openalex.org/W2363904277","https://openalex.org/W868123585","https://openalex.org/W2578380588","https://openalex.org/W2375652826","https://openalex.org/W4296997005","https://openalex.org/W2300145982","https://openalex.org/W2128601753","https://openalex.org/W2580512045","https://openalex.org/W2898323271"],"abstract_inverted_index":{"We":[0,85,106],"study":[1,87],"the":[2,48,55,69,88,91,94,103],"convex":[3,49,56,96],"hulls":[4,50,57,97],"of":[5,8,51,58,60,90,93],"reachable":[6,52,83,95],"sets":[7,19,53],"nonlinear":[9],"systems":[10],"with":[11,65],"bounded":[12],"disturbances":[13],"and":[14,32,98,114],"uncertain":[15],"initial":[16,66],"conditions.":[17],"Reachable":[18],"play":[20],"a":[21],"critical":[22],"role":[23],"in":[24],"control,":[25],"but":[26],"remain":[27],"notoriously":[28],"challenging":[29],"to":[30,37,80,109],"compute,":[31],"existing":[33],"over-approximation":[34],"tools":[35],"tend":[36],"be":[38],"conservative":[39],"or":[40],"computationally":[41],"expensive.":[42],"In":[43],"this":[44],"work,":[45],"we":[46],"characterize":[47],"as":[54],"solutions":[59],"an":[61,75],"ordinary":[62],"differential":[63],"equation":[64],"conditions":[67],"on":[68],"sphere.":[70],"This":[71],"finite-dimensional":[72],"characterization":[73],"unlocks":[74],"efficient":[76],"sampling-based":[77],"estimation":[78,104],"algorithm":[79],"accurately":[81],"over-approximate":[82],"sets.":[84],"also":[86],"structure":[89],"boundary":[92],"derive":[99],"error":[100],"bounds":[101],"for":[102],"algorithm.":[105],"give":[107],"applications":[108],"neural":[110],"feedback":[111],"loop":[112],"analysis":[113],"robust":[115],"MPC.":[116],"<bold":[117,123],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[118,121,124,127],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Code</b>:":[119],"<uri":[120,126],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/StanfordASL/chreach</uri>":[122],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Appendix</b>:":[125],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://arxiv.org/abs/2303.17674</uri>":[128]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}
