RAT iLQR: A Risk Auto-Tuning Controller to Optimally Account for Stochastic Model Mismatch
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DOI: 10.1109/lra.2020.3048660
Abstract: Successful robotic operation in stochastic environments relies on accurate characterization of the underlying probability distributions, yet this is often imperfect due to limited knowledge. This work presents a control algorithm that is capable of handling… read more here.
Keywords: ilqr risk; control; risk auto; risk ... See more keywords