Numerical Experiments. Zy(k + 1) + 1 Ly(k) − xy(k + 1) , where Zy(k) = Z µˆy(k), Gˆy k , and we have used the Minkowski sum of zonotopes as per Sec. III-A. We leave alternative methods of approximating continuous time to future work. For example, one could compute the convex hull between timesteps with constrained zonotopes [45], [50], but the resulting numerical representations are typically large. One could also apply standard zonotope reachability methods [40], [43], though the resulting set representations may not be differentiable.
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Sources: Zonotope Agreement of Prediction and Planning for Continuous Time Collision Avoidance With Discrete Time Dynamics, Zonotope Agreement