Efficient Deep Learning of Robust, Adaptive Policies using Tube MPC-Guided Data Augmentation
Tong Zhao,Andrea Tagliabue,Jonathan P. How,Tong Zhao,Andrea Tagliabue,Jonathan P. How
The deployment of agile autonomous systems in challenging, unstructured environments requires adaptation capabilities and robustness to uncertainties. Existing robust and adaptive controllers, such as those based on model predictive control (MPC), can achieve impressive performance at the cost of heavy online onboard computations. Strategies that efficiently learn robust and onboard-deployable pol...
