This repo shows how to use RTD with forward reachable sets (FRSs) represented by zonotopes. We use turtlebot dynamics as our model system.
You must have CORA_2018 on your MATLAB path before running this code
Run the script
turtlebot_example
The script will generate the turtlebot dynamics, compute an FRS, intersect it with an obstacle in workspace, allow the user to choose a trajectory parameter, and plot the slice of the FRS corresponding to the chosen parameter.
Patrick Holmes