Shape evolutions under state constraints: A viability theorem (Q2470511)

Let \(\mathcal{K}(\mathbb R^N)\) denote the collection of all nonempty compact subsets of \(\mathbb{R}^N\) endowed with the Pompeiu-Hausdorff metric \(d\) and \(\text{LIP}_{\overline{co}}(\mathbb R^N,\mathbb R^N)\) be the set of all bounded Lipschitz multimaps \(G: \mathbb{R}^N \multimap \mathbb{R}^N\) with compact convex values. Further, for an initial set \(K \in \mathcal{K}(\mathbb R^N)\) the reachable set at time \(t \geq 0\) is defined as \[ \begin{aligned} {v}_G(t,K) = \{ x(t) \in \mathbb{R}^N : \exists x(\cdot) \in W^{1,1}([0,t], \mathbb{R}^N),\\ \, x(0) \in K, \, x'(\tau) \in G(x(\tau)\text{for a.e. }\tau \in [0,t] \}. \end{aligned} \] For a given multimap \(\mathcal{F}: \mathcal{K}(\mathbb R^N) \multimap \text{LIP}_{\overline{co}}(\mathbb R^N,\mathbb R^N),\) a Lipschitz continuous multifunction \(K(\cdot): [0,1] \to \mathcal{K}(\mathbb R^N)\) is called a solution of the morphological inclusion \[ \overset{\circ}{K}(\cdot) \cap \mathcal{F} (K(\cdot)) \neq \emptyset \] in \([0,1]\) with initial value \(K(0) = K_0\) if for a.e. \(t \in [0,1]\) there exists some \(G \in \mathcal{F}(K(t))\) with \[ \lim_{h\downarrow0}\frac{1}{h}\cdot d(K(t+h),{v}_G(h,K(t))) = 0. \] The main result of the paper is the viability theorem presenting conditions under which, for a given nonempty closed set \(\mathcal{V} \subset \mathcal{K}(\mathbb R^N,)\) and \(K_0 \in \mathcal{V}\) there exists a solution \(K(\cdot)\) of the morphological inclusion with \(K(0) = K_0\) and \(K(t) \in \mathcal{V}\) for all \(t \in [0,1]\)