“…Others have developed separate representation schemes for the discrete part and continuous part of LHA [1], [3], [4], [7]. According to previous experiences [10], [12], [23], [24], [25], it can be more efficient to have a unified data-structure for both the discrete part and the continuous part. Moreover, the schemes used in [1], [3], [4], [7] only represent convex polyhedra in LHA state-space (concave polyhedra have to be represented as sets of convex ones) and suffer from the limitation to share common representation structures in different convex polyhedra.…”