This archive contains files for generating the figure and animation
for the IFAC NOLCOS 2004 paper "Control Synthesis for State
Constrained Systems and Obstacle Problems." by Alexander
B. Kurzhanski, Ian M. Mitchell and Pravin Varaiya.


It requires the Toolbox of Level Set Methods by Ian Mitchell, which
can be found at

	http://www.cs.ubc.ca/~mitchell/ToolboxLS

It has been tested with version 1.0 of the toolbox.


The three files are:

figureNolcos: Generates a version of the figure appearing in the paper.
    Primarily concerned with parameters and creating a pretty figure.

animateNolcos: Generates an avi animation of the growth of the reach set.
    Primarily concerned with parameters and creating a pretty animation.

nolcos: The workhorse file, which computes the motion of the reach set
    using routines from the toolbox.


Questions or comments can be sent to mitchell@cs.ubc.ca

Ian Mitchell
University of British Columbia
02 September 2004
