  We consider the problem of verifying safety for a pair of identical
integrator agents in continuous time with compact set-valued input
uncertainties. We encode this verification problem as that of certifying or
falsifying the intersection of their reach sets. We transcribe the same into a
variational problem, namely that of minimizing the support function of the
difference of the two reach sets over the unit sphere. We illustrate the
computational tractability of the proposed formulation by developing two cases
in detail, viz. when the inputs have time-varying norm-bounded and generic
hyperrectangular uncertainties. We show that the latter case allows distributed
certification via second order cone programming.
