Research map / Probabilistic and scientific modeling / Variational and generative sampling
Sampling-Based Robust Control of Autonomous Systems with Non-Gaussian Noise
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Use PAC transition-probability intervals instead of frequentist point estimates | UAV high-turbulence reach-avoid control · UAV high turbulence | safety of reachability guarantee | Helped |
| Increase noise samples when constructing the iMDP | Building temperature regulation · BAS (2-zone) | lower-bound reachability probability | Helped |
| Use sampling-based iMDP synthesis rather than StocHy | Building temperature regulation (1-zone) · Building temperature regulation (1-zone) | runtime: 45 minute vs. 3-9 second | Helped |
| Use PAC probability bounds rather than precise frequentist transition estimates (ablation) | Sampling-based iMDP abstraction · UAV high turbulence | reachability guarantee calibration | Helped |
| Use feedback controllers rather than open-loop controllers | Spacecraft rendezvous control · Spacecraft rendezvous | robustness to noise | Helped |
| Increase the number of samples used for abstraction (ablation) | UAV high-turbulence iMDP · UAV high turbulence | transition count: 9,477,795 -> 23,969,028 | Mixed |
| Use sampling-based iMDP synthesis rather than StocHy | Building temperature regulation · Building temperature regulation | lower-bound reachability probability | Mixed |
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