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Abstract
An application in robotics motivates us to characterize the evolution of a subset in state space due to a compact neighborhood of an arbitrary dynamical systemâan instance of a differential inclusion. Earlier results of Blagodat·skikh and Filippov (1986) and Butkovskii (1982) characterize the boundary of theattainable set and theforward projection operator of a state. Our first result is a local characterization of the boundary of the forward projection ofa compact regular subset of the state space.
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