二乗和計画法による不変可到達集合の計算
Computing Invariant Reachable Sets through Sum-of-Squares Programming
SOS計画法で軌道周りの不変集合（ファネル）を計算する手法を整理し、最小体積定式化とオープンソース実装computeSOSFunnelsを提案。一輪車・台車振子・四回転翼で検証した。
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分類: eess.SY, cs.RO, math.OC
原文アブストラクト
Funnels, time-varying invariant sets around nominal trajectories, certify that a closed-loop system tracks its plan, and can be composed into verified motion plans. Their computation by sum-of-squares (SOS) programming is well established in formulation but not in practice: the result depends on implementation choices such as the initial guess, Lyapunov function normalization, and termination rule, which the literature documents only briefly. This paper presents a self-contained treatment of SOS-based funnel computation, implemented in the open-source package computeSOSFunnels. We propose a minimum-volume formulation with inlet and outlet constraints under which funnels with coinciding nominal endpoints compose by construction. Numerical experiments on a unicycle, with timing studies on a cart-pole and a 12-state quadrotor, characterize the pipeline: infeasible initial guesses are partly decidable before solving, the certificate shows no violations among 39,000 boundary samples per funnel under the true dynamics, and constructing the semidefinite program, not solving it, dominates computation time.