# Multi-Candidate Simplex Architecture: From Design-Time Identification to Runtime Construction of Context-Dependent Safe Regions of Attraction

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/jaq1k1c7d4x2i7rgl1dq59jxs
- Original: https://arxiv.org/abs/2610.35040

## Summary

The study proposes a two-stage Region of Attraction (RoA) certification procedure: contraction-based stability analysis first determines a target set, which Taylor-model reachability analysis then verifies, thereby constructing a context-dependent safe RoA at runtime and enabling safe switching among high-assurance controller candidates.