Notice:

This is a modification of Kaa for experimenting with other optimization techniques besides Bernstein polynomials. Mostly trying to find ways to extend beyond polynomial dynamics. This version utilizes a python wrapper over Kodiak. Many thanks to Stanley Bak for providing the original wrapper over Kodiak.

Kaa

Kaa is a tool for reachability analysis of polynomial dynamical systems using parallelotope bundles. It is a rewrite of the tool Sapo introduced by Dreossi, Dang, Piazza (paper)

Dependencies

Kaa relies only on the following python3 packages:

• sympy
• scipy
• numpy
• swiglpk

All of which can be installed through pip or through the package's corresponding page on PyPI.

Running Sample Models and Examples.

The Juypter notebook named kaa-intro provides basic examples of the usage of kaa. The notebook contains all of the relevant code necessary to begin plotting the reachable sets and phase plots.

Contents:

• Summary of Files