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This paper aims to synthesize a reachability controller for an unknowndynamical system. We first learn the unknown system using Gaussian processesand the (probabilistic) guarantee on the learned model. Then we use thefunnel-based controller synthesis approach using this approximated dynamicalsystem to design the controller for a reachability specification. Finally, themerits of the proposed method are shown using a numerical example.

Funnel-based Reachability Control of Unknown Nonlinear Systems using Gaussian Processes