Graphical user interface:
The CORA toolbox now includes a graphical user interface(GUI),
which provides access to CORA’s main functionality, even for users without any knowledge about programming in MATLAB.
The usage is recommended especially for CORA beginners since it allows to select algorithm settings
conveniently using drop-down menus and it also contains info buttons
displaying detailed descriptions for all algorithm settings.
Set-based observers:
Since guaranteed state estimation is in many cases a reachability problem
or closely related to reachability analysis, we realized set-based observers in CORA for the first time.
In particular, we provide strip-based observers, propagation-based observers, and interval observers.
Constrained polynomial zonotopes:
We integrated a new set representation, constrained polynomial zonotopes (see Sec. 2.2.1.6),
which are closed under all relevant set operations.
New reachability algorithms:
CORA offers a novel adaptive reachability algorithm for nonlinear systems
that is fully automatic and does not require user-defined settings anymore.
Furthermore, algorithms for inner-approximations of reachable sets for
linear and nonlinear continuous systems are introduced.
New set containment methods:
Novel algorithms for the containment of point/zonotope-in-zonotope have been developed,
which run in polynomial time when fixing the dimension or the number of zonotope generators.
Furthermore, an optimization-based algorithm aimed at disproving containment is included.
Miscellaneous:
There are many other interesting improvements:
Better console outputs for improved usability, enhanced conversion between CORA and SpaceEx models,
additional methods for conversion between different set representations, more unit tests, etc.