Code for calculating the reachable set of a tractor-trailer system and representing it with convex hull.
RandUP is an easy-to-implement reachability analysis algorithm. It consists of 1) sampling inputs, 2) propagating them through the reachability map, and 3) taking the epsilon-padded convex hull of the outputs.
This code was tested with Python 3.10.8.
All dependencies (i.e., numpy, scipy, and matplotlib) can be installed by running
pip install -r requirements.txt
- add epsilon-padding function
- add intersection area calculation method (does the Cal_area_2poly function work?)
- which one makes more sense (ys or ys_random?)
- train a model for intersection area calculation