Certainty Equivalent Perception-Based Control

• URL: http://arxiv.org/abs/2008.12332v2
• Date: Fri, 16 Apr 2021 19:45:35 GMT
• Title: Certainty Equivalent Perception-Based Control
• Authors: Sarah Dean and Benjamin Recht
• Abstract summary: We show a uniform error bound on non kernel regression under a dynamically-achievable dense sampling scheme. This allows for a finite-time convergence rate on the sub-optimality of using the regressor in closed-loop for waypoint tracking.
• Score: 29.216967322052785
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: In order to certify performance and safety, feedback control requires precise characterization of sensor errors. In this paper, we provide guarantees on such feedback systems when sensors are characterized by solving a supervised learning problem. We show a uniform error bound on nonparametric kernel regression under a dynamically-achievable dense sampling scheme. This allows for a finite-time convergence rate on the sub-optimality of using the regressor in closed-loop for waypoint tracking. We demonstrate our results in simulation with simplified unmanned aerial vehicle and autonomous driving examples.

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