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Certainty Equivalent Perception-Based Control
- Publication Year :
- 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.<br />Comment: to appear at L4DC 2021
Details
- Database :
- arXiv
- Publication Type :
- Report
- Accession number :
- edsarx.2008.12332
- Document Type :
- Working Paper