Experiments with Tractable Feedback in Robotic Planning Under Uncertainty: Insights over a Wide Range of Noise Regimes

DOI10.1007/978-3-030-66723-8_25MaRDI QIDQ3381990zbMATH OpenOpenAlexFDO

Authors Mohamed Naveed Gul Mohamed, Suman Chakravorty, Dylan A. Shell

Publication date 20 September 2021

Published in Algorithmic Foundations of Robotics XIV (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2002.10505

zbMATH Keywords

optimizationoptimal controlempirical study

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Optimal stochastic control (93E20) Model predictive control (93B45)

Abstract: We consider the problem of robotic planning under uncertainty. This problem may be posed as a stochastic optimal control problem, complete solution to which is fundamentally intractable owing to the infamous curse of dimensionality. We report the results of an extensive simulation study in which we have compared two methods, both of which aim to salvage tractability by using alternative, albeit inexact, means for treating feedback. The first is a recently proposed method based on a near-optimal "decoupling principle" for tractable feedback design, wherein a nominal open-loop problem is solved, followed by a linear feedback design around the open-loop. The second is Model Predictive Control (MPC), a widely-employed method that uses repeated re-computation of the nominal open-loop problem during execution to correct for noise, though when interpreted as feedback, this can only said to be an implicit form. We examine a much wider range of noise levels than have been previously reported and empirical evidence suggests that the decoupling method allows for tractable planning over a wide range of uncertainty conditions without unduly sacrificing performance.

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Cites work

• scientific article; zbMATH DE number 1946845 (Why is no real title available?)
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• CasADi: a software framework for nonlinear optimization and optimal control
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• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming
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Cited in

(1)

• Deducing planning variables from experimental arm trajectories: Pitfalls and possibilities

Describes a project that uses

Uses Software

• Ipopt
• CasADi

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