C-P Reach

Cyber Physical System Reachability Analyzer.

Installation

• Install Poetry

• Install CDD Lib

sudo apt install libcdd-dev

• Build Poetry Package

git clone [email protected]:cognipilot/c_p_reach
cd c_p_reach
poetry install

Running Commands

First start a poetry shell in the poetry virtual environment.

poetry shell

Next, call the reachability tool.

c_p_reach

Roadmap

Working

• Multirotor 3D support
• Support Rover

TODO

• Auto-read gains from CasADi model
• Take vehicle trajectory as input