Belief space stochastic control under unknown dynamics

ACC, pp. 3764-3770, 2017.

Cited by: 8|Views11


We present a sampling-based stochastic optimal control (SOC) framework for systems with unknown dynamics based on the path integral formulation and probabilistic inference. This work is motivated by three major limitations of related SOC methods: first, full knowledge of the dynamics model is usually required. Second, model uncertainty is...More



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