# ROC-HJ solver: Reachability and Optimal Control software

This is a C++ software for solving some HJB equations arising in reachability analysis and control theory.

## Description

For more details, click here !

## Download

#### C++ software

The library was precompiled and tested on three target systems: Windows, LINUX and MacOS. In all cases, the library requires some building tools for C/C++ installed on the computer:

- CMake Build chain ( available for all systems at http://www.cmake.org/.)
- GCC compiler (native for LINUX and Mac OS, MINGW distribution for Windows :http://www.mingw.org/)

Some basic knowledge of C programming syntax is necessary to describe a new problem to be solved by the HJB-Solver. For more details, see the pdf file here.

Select the file according to your operating system from the following list to get the latest version for your computer: Linux 32-bit or 64-bit; Mac OS 64-bit; Windows

#### Examples:

To illustrate different numerical methods implemented in the ROC-HJ library some control problems were considered and for each example a Graphical User's Interface is proposed. It allows to define the parameters of each model and of the numerical method used to solve it.

- Zermelo's Navigation problem: reachability analysis under state constraints, minimum time function, reconstruction of optimal trajectories
- Dubin's car problem: reachability analysis, minimum time function, reconstruction of optimal trajectories
- Advection-rotation HJ equation: comparison of different numericla methods for solving a linear HJ equation
- Unsafety regions: collision avoidance for UAVs

The graphical interfaces are developed with MATLAB and require a MATLAB licence to run.

To download the examples, select your computer operating system: Linux, Mac OS, Windows

## Contact:

Prof. Hasnaa Zidani or Prof. Olivier.Bokanowski