Geodesic
Construction of reachable sets of controlled systems with second order of
Sibirskij žurnal vyčislitelʹnoj matematiki, Tome 23 (2020) no. 4, pp. 365-380.

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The paper investigates the pixel method for constructing reachable sets of a dynamic controlled system. Sufficient conditions for a control system have been obtained under which the explicit second order Runge–Kutta method (a modified Euler method) provides the second order of accuracy with respect to a time step in constructing reachable sets, even if discontinuous functions are in the class of admissible controls. 
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A. A. Ershov. Construction of reachable sets of controlled systems with second order of. Sibirskij žurnal vyčislitelʹnoj matematiki, Tome 23 (2020) no. 4, pp. 365-380. http://geodesic.mathdoc.fr/item/SJVM_2020_23_4_a1/

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