Report on interleaving online control and reachability computation for certified behaviour of cyber-physical systems

This deliverable documents the results obtained in task 2.4 on combining online control and online reachability computations for efficient decision-making in uncertain environments. The report will describe the developed techniques for embedding reachable set computation and constraint generation into model-predictive controllers for CPS. Furthermore, it will elaborate on the results of interleaving and complementing local safety computations and local trajectory optimization for real-time efficiency. The extensions to stochastic settings and the exemplary application to at least one of the case studies considered in WP5 will be covered.