Relaxing goodness is still good for SPDIs

Polygonal hybrid systems (SPDIs) are planar hybrid systems, whose dynamics are defined in terms of constant differential inclusions, one for each of a number of polygonal regions partitioning the plane. The reachability problem for SPDIs is known to be decidable, but depends on the goodness assumption — which states that the dynamics do not allow a trajectory to both enter and leave a region through the same edge. In this paper we extend the decidability result to generalised SPDIs (GSPDI), SPDIs not satisfying the goodness property, and give an algorithmic solution to decide reachability of such systems