Symmetry reduction for dynamic programming
From MaRDI portal
Abstract: We present a method of exploiting symmetries of discrete-time optimal control problems to reduce the dimensionality of dynamic programming iterations. The results are derived for systems with continuous state variables, and can be applied to systems with continuous or discrete symmetry groups. We prove that symmetries of the state update equation and stage costs induce corresponding symmetries of the optimal cost function and the optimal policies. We then provide a general framework for computing the optimal cost function based on gridding a space of lower dimension than the original state space. This method does not require algebraic manipulation of the state update equations; it only requires knowledge of the symmetries that the state update equations possess. Since the method can be performed without any knowledge of the state update map beyond being able to evaluate it and verify its symmetries, this enables the method to be applied in a wide range of application problems. We illustrate these results on two six-dimensional optimal control problems that are computationally difficult to solve by dynamic programming without symmetry reduction.
Recommendations
Cites work
- scientific article; zbMATH DE number 3126094 (Why is no real title available?)
- scientific article; zbMATH DE number 1330024 (Why is no real title available?)
- scientific article; zbMATH DE number 1516969 (Why is no real title available?)
- A compressed sensing framework for magnetic resonance fingerprinting
- Approximate Dynamic Programming
- Controllability of multi-agent systems from a graph-theoretic perspective
- Coordinated Motion Design on Lie Groups
- Dynamic programming and optimal control. Vol. 1.
- Dynamic programming and optimal control. Vol. 2
- Dynamic programming with homogeneous functions
- Functional Approximations and Dynamic Programming
- Invariant tracking
- Networks of dissipative systems. Compositional certification of stability, performance, and safety
- Nonholonomic mechanical systems with symmetry
- Nonlinearizable single-input control systems do not admit stationary symmetries
- Optimal control of systems possessing symmetries
- Perspectives of approximate dynamic programming
- Reduction, symmetry, and phases in mechanics
- Symmetry Reduction for Probabilistic Model Checking
- Symmetry reduction of optimal control systems and principal connections
- Symmetry reductions and exact solutions of a class of nonlinear heat equations
- Symmetry-Preserving Observers
- Symmetry-based algorithms to relate partial differential equations: I. Local symmetries
- The Invariant Extended Kalman Filter as a Stable Observer
- Tracking for fully actuated mechanical systems: A geometric framework
Cited in
(7)- Geometric integration and dynamic properties
- Control of cross-directional systems with approximate symmetries
- Symmetric Reductions
- Symmetry reduction and recovery of trajectories of optimal control problems via measure relaxations
- Exploiting symmetries in active set enumeration for constrained linear-quadratic optimal control
- Symmetry in optimal control: a multiobjective model predictive control approach
- A generalization of Bellman's equation with application to path planning, obstacle avoidance and invariant set estimation
This page was built for publication: Symmetry reduction for dynamic programming
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1716553)
