Certainty Equivalent Perception-Based Control
From MaRDI portal
Publication:6347890
arXiv2008.12332MaRDI QIDQ6347890
Author name not available (Why is that?)
Publication date: 27 August 2020
Abstract: In order to certify performance and safety, feedback control requires precise characterization of sensor errors. In this paper, we provide guarantees on such feedback systems when sensors are characterized by solving a supervised learning problem. We show a uniform error bound on nonparametric kernel regression under a dynamically-achievable dense sampling scheme. This allows for a finite-time convergence rate on the sub-optimality of using the regressor in closed-loop for waypoint tracking. We demonstrate our results in simulation with simplified unmanned aerial vehicle and autonomous driving examples.
Has companion code repository: https://github.com/modestyachts/certainty_equiv_perception_control
This page was built for publication: Certainty Equivalent Perception-Based Control
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6347890)
