A probabilistic particle control approach to optimal, robust predictive control

Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2006

Volumn 3, Issue , 2006, Pages 1866-1880

  Blackmore, Lars ^a  

^a NONE

Author keywords

[No Author keywords available]

Indexed keywords

COLLISION AVOIDANCE; ERROR ANALYSIS; OPTIMAL CONTROL SYSTEMS; PROBABILITY; ROBUSTNESS (CONTROL SYSTEMS); TRAJECTORIES; UNCERTAIN SYSTEMS;

AUTONOMOUS VEHICLES; INHERENT UNCERTAINTY; ROBUST PREDICTIVE CONTROL;

UNMANNED VEHICLES;

EID: 33845753457     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.2514/6.2006-6240     Document Type: Conference Paper

References (32)

1. H. Pham, "On some recent aspects of stochastic control and their applications," Probability Surveys, vol. 2, pp. 506-549, 2005.
2. D. Nikovski and M. Brand, "Non-linear stochastic control in continuous state spaces by exact integration in bellman's equations," in Proceedings of the Workshop on Planning under Uncertainty and Incomplete Information of ICAPS, 2003.
3. A. Prekopa, Stochastic Programming. Kluwer, 1995.
4. A. Aurnhammer and K. Marti, Dynamic Stochastic Optimization. Berlin: Springer, 2003, pp. 133-154.
5. N. Roy, G. Gordon, and S. Thrun, "Planning under uncertainty for reliable health care robotics," in Proceedings of the International Conference on Field and Service Robotics. 2003.
6. P. Lommel, "An extended kalman filter extension of the augmented markov decision process," Master's thesis, Massachusetts Institute of Technology, Cambridge, Massachusetts, 2004.
7. D. H. V. Hessem, "Stochastic inequality constrained closed-loop model predictive control," Ph.D. dissertation, Technische Universiteit Delft, Delft, The Netherlands, 2004.
8. Y. Yan and R. R. Bitmead, "Incorporating state estimation into model predictive control and its application to network traffic control," Automatica, vol. 41, pp. 595-604, 2005.
9. P. Li, M. Wendt, and G. Wozny, "Robust model predictive control under chance constraints," Computers and Chemical Engineering, vol. 24, pp. 829-834, 2000.
10. L. Blackmore, H. X. Li, and B. C. Williams, "A probabilistic approach to optimal robust path planning with obstacles," in Proceedings of the American Control Conference, 2006.
11. E. Balas, "Disjunctive programming," Annals of Discrete Math, vol. 5, pp. 3-51, 1979.
12. A. Doucet, N. de Freitas, and N. J. Gordon, Sequential Monte Carlo Methods in Practice. Springer Verlag, 2001.
13. ILOG, "Ilog cplex user's guide," 1999.
14. N. Metropolis and S. Ulam, "The monte carlo method," American Statistical Association, vol. 44, pp. 335-341, 1949.
15. R. Morales-Menendez, N. de Freitas, and D. Poole, "Real-time monitoring of complex industrial processes with particle filters," in Proceedings of Neural Information Processing Systems (NIPS), 2002.
16. A. Doucet, N. de Freitas, K. Murphy, and S. Russell, "Rao- Blackwellised particle filtering for dynamic Bayesian networks," in Proceedings of the Conference on Uncertainty in Artificial Intelligence (UAI), 2000.
17. N. J. Gordon, D. J. Salmond, and A. P. M. Smith, "Novel approach to nonlinear/non-Gaussian Bayesian state estimation," IEE Proceedings - F, vol. 140, no. 2, pp. 107-113, Apr. 1993.
18. L. Blackmore, S. Funiak, and B. C. Williams, "Combining stochastic and greedy search in hybrid estimation," in Proceedings of 20th National Conference on Artificial Intelligence (AAAI05), 2005.
19. A. V. Ng and M. Jordan, "Pegasus; A policy search method for large mdps and pomdps," in Proceedings of the 16th Conference on Uncertainty in Artificial Intelligence, 2000.
20. A. Greenfield and A. Brockwell, "Adaptive control of nonlinear stochastic systems by particle filtering," in Proceedings of the Conference on Control and Automation, 2003.
21. C. Andrieu, A. Doucet, S. S. Singh, and V. B. Tadic, "Particle methods for change detection, system identification, and control," Proceedings of the IEEE, vol. 92, 2004.
22. S. S. Singh, N. Kantas, B. Vo, A. Doucet, and R. Evans, "Simulation-based optimal sensor scheduling with application to observer trajectory planning," To appear in Automatica.
23. L. Ljung, System Identification: Theory for the user. New York: Prentice Hall, 1999.
24. T. Schouwenaars, B. D. Moor, E. Feron, and J. How, "Mixed integer programming for multi-vehicle path planning," in Proc. European Control Conference, 2001.
25. A. Richards, J. How, T. Schouweuaars, and E. Feron, "Plume avoidance maneuver planning using mixed integer linear programming," in Proc. AIAA Guidance, Navigational and Control Conference, 2001.
26. N. M. Barr, D. Gangsaas, and D. R. Schaeffer, "Wind models for flight simulator certification of landing and approach guidance and control systems," Paper FAA-RD-74-206, 1974.
27. "US military handbook MIL-HDBK-1797," 1997.
28. D. McRuer, I. Ashkenas, and D. Graham, Aircraft Dynamics and Automatic Control. Princeton University Press, 1990.
29. A. Richards, "Robust constrained model predictive control," Ph.D. dissertation, Massachusetts Institute of Technology, Cambridge, Massachusetts, 2005.
30. J. Gossner, B. Kouvaritakis, and J. Rossiter, "Stable generalized predictive control with constraints and bounded disturbances," Automatica, vol. 33, p. 551, 1997.
31. J. G. Proakis, Digital Communications. New York, 1995.
32. H. Akashi and H. Kumamoto, "Random sampling approach to state estimation in switching environments," Automatica, vol. 13, pp. 429-434, 1977.