1 code implementation • 25 Mar 2024 • Will Sharpless, Yat Tin Chow, Sylvia Herbert
Namely, we show that with a representation of the true dynamics in the SA space, a series of inequalities confirms that the value of a SA linear game with antagonistic error is a conservative envelope of the true value function.
1 code implementation • 21 Mar 2024 • Will Sharpless, Yat Tin Chow, Sylvia Herbert
One may then solve the dimension-robust generalized Hopf formula for a linear game with this ``antagonistic error" to perform guaranteed conservative reachability analysis and control synthesis of nonlinear systems; this can be done for problem formulations in which no other HJR method is both computationally feasible and guaranteed.
2 code implementations • 21 Mar 2023 • Will Sharpless, Nikhil Shinde, Matthew Kim, Yat Tin Chow, Sylvia Herbert
We find that it significantly out-competes expectation-minimizing and game-theoretic model predictive controllers with the same Koopman linearization in the presence of bounded stochastic disturbance.
