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Approximate dynamic programming for reach-avoid problems


N. Kariotoglou

European Control Conference (ECC), Zurich, Switzerland, July 17-19, 2013

In this work we illustrate how approximate dynamic programming can be utilized to address problems of stochastic reachability. In particular we focus on the reach-avoid problem and approximate the value function on a linear combination of radial basis functions. In this way we get significant computational advantages with which we can obtain tractable solutions to problems that cannot be solved via generic space gridding due to the curse of dimensionality. Numerical simulations indicate that control policies coming as a result of approximating the value function of stochastic reachability problems can achieve close to optimal performance.


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J. Lygeros

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