# On Simulation and Trajectory Prediction with Gaussian Process Dynamics

@inproceedings{Hewing2020OnSA, title={On Simulation and Trajectory Prediction with Gaussian Process Dynamics}, author={Lukas Hewing and Elena Arcari and Lukas P. Fr{\"o}hlich and Melanie Nicole Zeilinger}, booktitle={L4DC}, year={2020} }

Established techniques for simulation and prediction with Gaussian process (GP) dynamics often implicitly make use of an independence assumption on successive function evaluations of the dynamics model. This can result in significant error and underestimation of the prediction uncertainty, potentially leading to failures in safety-critical applications. This paper discusses methods that explicitly take the correlation of successive function evaluations into account. We first describe two…

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