zonopy - Zonotopes in Python

Base implementation of various set representations in Python. See documentation here.

Much of the math behind the set types implemented here extend from CORA.

Continuous sets types implemented

• Interval
• Zonotopes
• Polynomial Zonotopes

Installation instructions

Either clone the latest version or a specific tag of this repo and inside of the repo path, run:

pip install -e .

Prerequisites

pytorch >= 2.0.0
numpy >= 1.24
scipy >= 1.9.0

How to Cite

If you use zonopy or zonopy-robots in your research, please cite one or more of the following papers:

Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres. J. Michaux, A. Li, Q. Chen, C. Chen, B. Zhang, and R. Vasudevan. ArXiv, 2024. (https://arxiv.org/abs/2402.08857)

@article{michaux2024sparrows,
  title={Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres},
  author={Jonathan Michaux and Adam Li and Qingyi Chen and Che Chen and Bohao Zhang and Ram Vasudevan},
  journal={ArXiv},
  year={2024},
  volume={abs/2402.08857},
  url={https://arxiv.org/abs/2402.08857}}

Reachability-based Trajectory Design with Neural Implicit Safety Constraints. J. B. Michaux, Y. S. Kwon, Q. Chen, and R. Vasudevan. Robotics: Science and Systems, 2023. (https://www.roboticsproceedings.org/rss19/p062.pdf)

@inproceedings{michaux2023rdf,
  title={{Reachability-based Trajectory Design with Neural Implicit Safety Constraints}},
  author={Jonathan B Michaux AND Yong Seok Kwon AND Qingyi Chen AND Ram Vasudevan},
  booktitle={Proceedings of Robotics: Science and Systems},
  year={2023},
  address={Daegu, Republic of Korea},
  doi={10.15607/RSS.2023.XIX.062}}