  Peak Estimation aims to find the maximum value of a state function achieved
by a dynamical system. This problem is non-convex when considering standard
Barrier and Density methods for invariant sets, and has been treated
heuristically by using auxiliary functions. A convex formulation based on
occupation measures is proposed in this paper to solve peak estimation. This
method is dual to the auxiliary function approach. Our method will converge to
the optimal solution and can recover trajectories even from approximate
solutions. This framework is extended to safety analysis by maximizing the
minimum of a set of costs along trajectories.
