# AROC - Automated Reachset-Optimal Control Toolbox

A toolbox for automated controller synthesis based on reachability analysis

## Getting Started

To get started with AROC we recomment to take a look at the code examples provided in the directory ".../examples/...", and to read the AROC manual provided on the website.

## Algorithms

The toolbox includes the following algorithms for motion primitive based control:

- Optimization Based Control
- Convex Interpolation Control
- Generator Space Control
- Polynomial Control
- Combined Control
- Safety Net Control

Moreover, AROC also provides algorithm for model predictive control:

- Reachset Model Predictive Control
- Model Predictive Control for Linear Systems

Finally, also algorithms for computing safe terminal regions are implemented in AROC:

- Subpaving Algorithm
- Zonotope Approach for Linear Systems

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