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eess.SY2021★ 2 cited
On the Problem of Reformulating Systems with Uncertain Dynamics as a Stochastic Differential Equation
Thomas Lew, Apoorva Sharma, James Harrison +2
We identify an issue in recent approaches to learning-based control that reformulate systems with uncertain dynamics using a stochastic differential equation. Specifically, we disc…
eess.SY2021
Particle MPC for Uncertain and Learning-Based Control
Robert Dyro, James Harrison, Apoorva Sharma +1
As robotic systems move from highly structured environments to open worlds, incorporating uncertainty from dynamics learning or state estimation into the control pipeline is essent…