Computing Non-Convex Inner-Approximations of Reachable Sets for Nonlinear Continuous Systems

We present a novel approach to compute non-convex inner-approximations of reachable sets for nonlinear continuous systems. The concept of our approach is to extract inner-approximations of reachable sets from pre-computed outer-approximations, which makes our method computationally very efficient as we demonstrate with several numerical examples. Since our approach has polynomial complexity with respect to the system dimension, it is well-suited for high-dimensional systems.