A probabilistic approach to mixed open-loop and closed-loop control, with application to extreme autonomous driving

@article{Kolter2010APA,
  title={A probabilistic approach to mixed open-loop and closed-loop control, with application to extreme autonomous driving},
  author={J. Zico Kolter and Christian Plagemann and David T. Jackson and Andrew Y. Ng and Sebastian Thrun},
  journal={2010 IEEE International Conference on Robotics and Automation},
  year={2010},
  pages={839-845}
}
We consider the task of accurately controlling a complex system, such as autonomously sliding a car sideways into a parking spot. Although certain regions of this domain are extremely hard to model (i.e., the dynamics of the car while skidding), we observe that in practice such systems are often remarkably deterministic over short periods of time, even in difficult-to-model regions. Motivated by this intuition, we develop a probabilistic method for combining closed-loop control in the well… CONTINUE READING
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