Stochastic target capture via forward stochastic reachability

Mar 30, 2019 1 min read

Given a stochastic model for a (non-adversarial) threat quadrotor, we utilize forward stochastic reachability to construct trajectories with maximum probability of capture for a pursuer quadrotor.

Experiment 1: Robustness to threat quadrotor

Experiment 2: Open-loop control vs receding horizon control

stochastic-optimal-control
Research Scientist

Researcher with experience in optimization, control, stochastic modeling, and reinforcement learning