Robust Guarantees for Perception-Based Control

8 Jul 2019 Sarah Dean Nikolai Matni Benjamin Recht Vickie Ye

Motivated by vision-based control of autonomous vehicles, we consider the problem of controlling a known linear dynamical system for which partial state information, such as vehicle position, is extracted from complex and nonlinear data, such as a camera image. Our approach is to use a learned perception map that predicts some linear function of the state and to design a corresponding safe set and robust controller for the closed loop system with this sensing scheme... (read more)

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