A Verified Algorithm for Geometric Zonotope/Hyperplane Intersection

To perform rigorous numerical computations, one can use a gen-eralization of interval arithmetic, namely affine arithmetic (AA), which works with zonotopes instead of intervals. Zonotopes are also widely used for reachability analysis of continuous or hybrid systems, where an important operation is the geometric intersection of zonotopes with hyperplanes. We have implemented a functional algorithm to compute the zonotope/hyperplane intersection and verified it in Isabelle/HOL. The algorithm is similar to convex hull computations, our verifica-tion is therefore inspired by Knuth’s axioms for an orientation pred-icate of points in the plane, which have been successfully used to verify convex hull algorithms. The interesting fact is that we com-bine a mixture of different fields: a discrete geometrical algorithm to perform operations on the continuous sets represented by zono-topes

Formal Verification of Robotic Contact Tasks via Reachability Analysis

Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead, we propose to formally and efficiently verify robot behaviors in contact tasks using reachability analysis, which enables checking all the reachable states against user-provided specifications. To this end, we extend the state of the art in reachability analysis for hybrid (mixed discrete and continuous) dynamics subject to discrete-time input trajectories. In particular, we present a novel and scalable guard intersection approach to reliably compute the complex behavior caused by contacts. We model robots subject to contacts as hybrid automata in which crucial time delays are included. The usefulness of our approach is demonstrated by verifying safe human-robot interaction in the presence of constrained collisions, which was out of reach for existing methods.Comment: This work has been accepted by the 22nd IFAC World Congress (2023 in Yokohama, Japan

ARCH-COMP19 Category Report: Continuous and hybrid systems with nonlinear dynamics

We present the results of a friendly competition for formal verification of continuous and hybrid systems with nonlinear continuous dynamics. The friendly competition took place as part of the workshop Applied Verification for Continuous and Hybrid Systems (ARCH) in 2019. In this year, 6 tools Ariadne, CORA, DynIbex, Flow*, Isabelle/HOL, and JuliaReach (in alphabetic order) participated. They are applied to solve reachability analysis problems on four benchmark problems, one of them with hybrid dynamics. We do not rank the tools based on the results, but show the current status and discover the potential advantages of different tools

Tropical Positivity and Semialgebraic Sets from Polytopes

This dissertation presents recent contributions in tropical geometry with a view towards positivity, and on certain semialgebraic sets which are constructed from polytopes. Tropical geometry is an emerging field in mathematics, combining elements of algebraic geometry and polyhedral geometry. A key in establishing this bridge is the concept of tropicalization, which is often described as mapping an algebraic variety to its 'combinatorial shadow'. This shadow is a polyhedral complex and thus allows to study the algebraic variety by combinatorial means. Recently, the positive part, i.e. the intersection of the variety with the positive orthant, has enjoyed rising attention. A driving question in recent years is: Can we characterize the tropicalization of the positive part? In this thesis we introduce the novel notion of positive-tropical generators, a concept which may serve as a tool for studying positive parts in tropical geometry in a combinatorial fashion. We initiate the study of these as positive analogues of tropical bases, and extend our theory to the notion of signed-tropical generators for more general signed tropicalizations. Applying this to the tropicalization of determinantal varieties, we develop criteria for characterizing their positive part. Motivated by questions from optimization, we focus on the study of low-rank matrices, in particular matrices of rank 2 and 3. We show that in rank 2 the minors form a set of positive-tropical generators, which fully classifies the positive part. In rank 3 we develop the starship criterion, a geometric criterion which certifies non-positivity. Moreover, in the case of square-matrices of corank 1, we fully classify the signed tropicalization of the determinantal variety, even beyond the positive part. Afterwards, we turn to the study of polytropes, which are those polytopes that are both tropically and classically convex. In the literature they are also established as alcoved polytopes of type A. We describe methods from toric geometry for computing multivariate versions of volume, Ehrhart and h^*-polynomials of lattice polytropes. These algorithms are applied to all polytropes of dimensions 2,3 and 4, yielding a large class of integer polynomials. We give a complete combinatorial description of the coefficients of volume polynomials of 3-dimensional polytropes in terms of regular central subdivisions of the fundamental polytope, which is the root polytope of type A. Finally, we provide a partial characterization of the analogous coefficients in dimension 4. In the second half of the thesis, we shift the focus to study semialgebraic sets by combinatorial means. Intersection bodies are objects arising in geometric tomography and are known not to be semialgebraic in general. We study intersection bodies of polytopes and show that such an intersection body is always a semialgebraic set. Computing the irreducible components of the algebraic boundary, we provide an upper bound for the degree of these components. Furthermore, we give a full classification for the convexity of intersection bodies of polytopes in the plane. Towards the end of this thesis, we move to the study of a problem from game theory, considering the correlated equilibrium polytope $P_G$ of a game G from a combinatorial point of view. We introduce the region of full-dimensionality for this class of polytopes, and prove that it is a semialgebraic set for any game. Through the use of oriented matroid strata, we propose a structured method for classifying the possible combinatorial types of $P_G$, and show that for (2 x n)-games, the algebraic boundary of each stratum is a union of coordinate hyperplanes and binomial hypersurfaces. Finally, we provide a computational proof that there exists a unique combinatorial type of maximal dimension for (2 x 3)-games.:Introduction 1. Background 2. Tropical Positivity and Determinantal Varieties 3. Multivariate Volume, Ehrhart, and h^*-Polynomials of Polytropes 4. Combinatorics of Correlated Equilibri

Convergence of algorithms for reconstructing convex bodies and directional measures

We investigate algorithms for reconstructing a convex body $K$ in $\mathbb {R}^n$ from noisy measurements of its support function or its brightness function in $k$ directions $u_1,...,u_k$. The key idea of these algorithms is to construct a convex polytope $P_k$ whose support function (or brightness function) best approximates the given measurements in the directions $u_1,...,u_k$ (in the least squares sense). The measurement errors are assumed to be stochastically independent and Gaussian. It is shown that this procedure is (strongly) consistent, meaning that, almost surely, $P_k$ tends to $K$ in the Hausdorff metric as $k\to\infty$. Here some mild assumptions on the sequence $(u_i)$ of directions are needed. Using results from the theory of empirical processes, estimates of rates of convergence are derived, which are first obtained in the $L_2$ metric and then transferred to the Hausdorff metric. Along the way, a new estimate is obtained for the metric entropy of the class of origin-symmetric zonoids contained in the unit ball. Similar results are obtained for the convergence of an algorithm that reconstructs an approximating measure to the directional measure of a stationary fiber process from noisy measurements of its rose of intersections in $k$ directions $u_1,...,u_k$. Here the Dudley and Prohorov metrics are used. The methods are linked to those employed for the support and brightness function algorithms via the fact that the rose of intersections is the support function of a projection body.Comment: Published at http://dx.doi.org/10.1214/009053606000000335 in the Annals of Statistics (http://www.imstat.org/aos/) by the Institute of Mathematical Statistics (http://www.imstat.org