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This is an attempt at implementation of algoirthm for steering initial set of states (described as a zonotope) into a smaller reachable set (to allow combination of primitive maneuvers) from Schurmann and Althoff, 2017c. The code requires installation of CORA (for reachability analysis) and CVX (for convex optimization) toolboxes. Algorithm is applied to quadrotor longitudinal dynamics from Mitchell et al, 2016.
