Scatter Plot from Scientific Research

Simplified state space is discretized into grid cells. The location of each grid cell is indicated by the index vector v. The safety of a new original system state, e.g., x*, is estimated by way of the corresponding belief mass as p(x* in S) = Gamma_d([{2,3}]) = b_safe^[{2,3}], where L(x*) = v = [{2,3}]. The prior estimate B_v^prior of an index vector v is either obtained by fusing all BBAs within the set B_v, e.g., B_[{2,3}]^prior = F(B_[{2,3}]), or set to an initial estimate, e.g., B_[{3,6}]^prior = B_ini.

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