@article{yang2022efficient,
  title={Efficient backward reachability using the minkowski difference of constrained zonotopes},
  author={Yang, Liren and Zhang, Hang and Jeannin, Jean-Baptiste and Ozay, Necmiye},
  journal={IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems},
  volume={41},
  number={11},
  pages={3969--3980},
  year={2022},
  publisher={IEEE}
}