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eess.SY2018
A Decoupled Data Based Approach to Stochastic Optimal Control Problems
Dan Yu, Mohammandhussen Rafieisakhaei, Suman Chakravorty
This paper studies the stochastic optimal control problem for systems with unknown dynamics. A novel decoupled data based control (D2C) approach is proposed, which solves the probl…
cs.RO2018★ 14 cited
On the Use of the Observability Gramian for Partially Observed Robotic Path Planning Problems
Mohammadhussein Rafieisakhaei, Suman Chakravorty, P. R. Kumar
Optimizing measures of the observability Gramian as a surrogate for the estimation performance may provide irrelevant or misleading trajectories for planning under observation unce…