Reachability Analysis

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Overview

Reachability analysis studies which states a system can reach over time, and whether it can reach a goal while avoiding unsafe states. Researchers use methods such as Hamilton–Jacobi equations, interval and zonotope set propagation, symbolic model checking, and reachability certificates to analyze dynamical systems, robots, games, and neural networks. Learning-based approaches approximate reachable sets or safety functions from data, sometimes adding probabilistic or formal guarantees, to support real-time planning and verification. A central challenge is scaling these methods to high-dimensional systems without making the results overly conservative or relying on inaccurate models.

Latest papers

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80 papers13 papers in the last four weeks, up 18% on the four weeks before. 0.1% of all new papers.

  1. Reachability Constraints in Variational Quantum Circuits: Optimization within Polynomial Group Module

    Apr 15, 2026Yun-Tak Oh, Dongsoo Lee, Jungyoul Park +2Variational Quantum CircuitsReachability Analysis

    The Affiliated Institute of ETRI, Daejeon 34044, Korea

  2. Boundary Sampling to Learn Predictive Safety Filters via Pontryagin's Maximum Principle

    Apr 14, 2026James Dallas, Thomas Lew, John Talbot +3Safety FilteringControl Barrier Functions

    Toyota Research Institute, Los Altos, CA 94022, USA. · Department of Aeronautics and Astronautics, Stanford University, Stanford, CA 94305, USA.

  3. Differentiable Invariant Sets for Hybrid Limit Cycles with Application to Legged Robots

    Apr 6, 2026Varun Madabushi, Akash Harapanahalli, Samuel Coogan +1Dynamical SystemsReachability Analysis

    School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA.

  4. Reachability-Aware Time Scaling for Path Tracking

    Apr 1, 2026Hossein Gholampour, Logan E. BeaverRobot Trajectory TrackingReachability Analysis

    Department of Mechanical and Aerospace Engineering and the Institute of Autonomous and Connected Systems, Old Dominion University, Norfolk, VA 23529, USA

  5. Data-Driven Reachability Analysis via Diffusion Models with PAC Guarantees

    Mar 31, 2026Yanliang Huang, Peng Xie, Wenyuan Wu +2Reachability AnalysisDiffusion Models

    School of Computation, Information and Technology, Technical University of Munich, Munich, Germany. · School of Engineering, Hainan Bielefeld University of Applied Sciences, Hainan, China.

  6. Reachability Across the NL/PL Boundary: A Taxonomy-Driven Dataflow Model for LLM-Integrated Applications

    Mar 30, 2026Zihao Xu, Xiao Cheng, Ruijie Meng +1Reachability AnalysisStatic Code Analysis

    University of New South Wales, Sydney, Australia · 2Macquarie University, Sydney, Australia · 3CISPA Helmholtz Center for Information Security, Saarbrücken, Germany

  7. From Singleton Obstacles to Clutter: Translation Invariant Compositional Avoid Sets

    Mar 23, 2026Prashant Solanki, Jasper Van Beers, Coen De VisserCollision AvoidanceReachability Analysis

    Delft University of Technology, Netherlands

  8. RTD-RAX: Fast, Safe Trajectory Planning for Systems under Unknown Disturbances

    Mar 23, 2026Evanns Morales-Cuadrado, Long Kiu Chung, Shreyas Kousik +1Safe Motion PlanningMotion Planning

    S. Coogan is also with the School of Civil and Environmental Engineering.

  9. Contingency-Aware Planning via Certified Neural Hamilton-Jacobi Reachability

    Mar 17, 2026Kasidit Muenprasitivej, Derya AksaraySafe Motion PlanningRobot Navigation

    Department of Electrical and Computer Engineering, Northeastern University, Boston, MA, USA, 02115

  10. The FABRIC Strategy for Verifying Neural Feedback Systems

    Mar 9, 2026Samuel I. Akinwande, Sydney M. Katz, Mykel J. Kochenderfer +1Reachability AnalysisNeural Network Verification

    Department of Aeronautics and Astronautics, Stanford University, Stanford, USA · Department of Computer Science, Stanford University, Stanford, USA

  11. V-MORALS: Visual Morse Graph-Aided Estimation of Regions of Attraction in a Learned Latent Space

    Feb 26, 2026Faiz Aladin, Ashwin Balasubramanian, Lars Lindemann +1Reachability Analysis

    Viterbi School of Engineering, University of Southern California, USA. · Automatic Control Laboratory, ETH Zürich, Switzerland.

  12. Refining Almost-Safe Value Functions on the Fly

    Feb 26, 2026Sander Tonkens, Sosuke Kojima, Chenhao Liu +2Safety-Critical ControlControl Barrier Functions

    University of California, San Diego

  13. Petri Net Relaxation for Infeasibility Explanation and Sequential Task Planning

    Feb 25, 2026Nguyen Cong Nhat Le, John G. Rogers, Claire N. Bonial +1Sequential Decision MakingReachability Analysis

    Colorado School of Mines, Golden CO 80401, USA · DEVCOM Army Research Laboratory, Adelphi, MD, USA

  14. KCFRC: Kinematic Collision-Aware Foothold Reachability Criteria for Legged Locomotion

    Feb 24, 2026Lei Ye, Haibo Gao, Huaiguang Yang +6Legged RoboticsReachability Analysis

    State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China.

  15. Solving Parameter-Robust Avoid Problems with Unknown Feasibility using Reinforcement Learning

    Feb 17, 2026Oswin So, Eric Yang Yu, Songyuan Zhang +3Safe RLReachability Analysis

    Department of Aeronautics and Astronautics, MIT · MIT Lincoln Laboratory

  16. Reach-Avoid Differential game with Reachability Analysis for UAVs: A decomposition approach

    Dec 28, 2025Minh Bui, Simon Monckton, Mo ChenGame TheoryReachability Analysis

    Simon Fraser University, Burnaby, BC V5A 1S6, Canada · Defense Research & Development Canada (DRDC), Medicine Hat, Alberta T1A 8K6, Canada

  17. How to Train Your Latent Control Barrier Function: Smooth Safety Filtering Under Hard-to-Model Constraints

    Nov 23, 2025Kensuke Nakamura, Arun L. Bishop, Steven Man +3Safety FilteringControl Barrier Functions

    Carnegie Mellon University

  18. Manifold-constrained Hamilton-Jacobi Reachability Learning for Decentralized Multi-Agent Motion Planning

    Nov 5, 2025Qingyi Chen, Ruiqi Ni, Junyoung Kim +1Multi-Robot Motion PlanningConstrained Motion Planning

    Department of Computer Science at Purdue University, West Lafayette, IN 47907, USA.

  19. NeHMO: Neural Hamilton-Jacobi Reachability Learning for Decentralized Safe Multi-Arm Motion Planning

    Jul 18, 2025Qingyi Chen, Zachary Kingston, Ahmed H. QureshiMulti-Robot Motion PlanningConstrained Motion Planning

    Department of Computer Science at Purdue University, West Lafayette, IN, USA

  20. Decidable Reasoning About Time in Finite-Domain Situation Calculus Theories

    Feb 5, 2024Till Hofmann, Stefan Schupp, Gerhard LakemeyerLogical ReasoningReachability Analysis

    RWTH Aachen University, Germany · University of Oxford, United Kingdom · TU Wien, Austria