Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Guaranteed-Safe Approximate Reachability via State Dependency-Based
  Decomposition   Hamilton Jacobi (HJ) Reachability is a formal verification tool widely used
in robotic safety analysis. Given a target set as unsafe states, a dynamical
system is guaranteed not to enter the target under the worst-case disturbance
if it avoids the Backward Reachable Tube (BRT). However, computing BRTs suffers
from exponential computational time and space complexity with respect to the
state dimension. Previously, system decomposition and projection techniques
have been investigated, but the trade off between applicability to a wider
class of dynamics and degree of conservatism has been challenging. In this
paper, we propose a State Dependency Graph to represent the system dynamics,
and decompose the full system where only dependent states are included in each
subsystem, and "missing" states are treated as bounded disturbance. Thus for a
large variety of dynamics in robotics, BRTs can be quickly approximated in
lower-dimensional chained subsystems with the guaranteed-safety property
preserved. We demonstrate our method with numerical experiments on the 4D
Quadruple Integrator, and the 6D Bicycle, an important car model that was
formerly intractable.

35
The categories of this paper are: mtrl-th
10
The categories of this paper are: q-bio
15
The categories of this paper are: nucl-ex
16
The categories of this paper are: stat
31
The categories of this paper are: ao-sci
19
The categories of this paper are: eess
13
The categories of this paper are: quant-ph
11
The categories of this paper are: hep-lat
32
The categories of this paper are: atom-ph
17
The categories of this paper are: q-fin
1
The categories of this paper are: cs
12
The categories of this paper are: nucl-th
21
The categories of this paper are: adap-org
25
The categories of this paper are: patt-sol
0
The categories of this paper are: hep-ph
4
The categories of this paper are: cond-mat