@article{chen2018decomposition,
  title={Decomposition of reachable sets and tubes for a class of nonlinear systems},
  author={Chen, Mo and Herbert, Sylvia L and Vashishtha, Mahesh S and Bansal, Somil and Tomlin, Claire J},
  journal={IEEE Transactions on Automatic Control},
  volume={63},
  number={11},
  pages={3675--3688},
  year={2018},
  publisher={IEEE}
}