Guaranteed State Estimation in CORA 2021

Tool presentation: Safety-critical systems often require guaranteed state estimation instead of estimating the most-likely state. While a lot of research on guaranteed state estimation has been conducted, there exists no tool for this purpose. Since guaranteed state estimation is in many cases a reachability problem or closely related to reachability analysis, this paper presents its implementation in the continuous reachability analyzer (CORA). We present how we integrated different types of observers, different set representations, and linear as well as nonlinear dynamics. The scalability and usefulness of the implemented observers is demonstrated for a scalable tank system.