Operating with Inaccurate Models by Integrating Control-Level Discrepancy Information into Planning
Ellis Ratner,Claire J. Tomlin,Maxim Likhachev,Ellis Ratner,Claire J. Tomlin,Maxim Likhachev
Typical robotic systems rely on models for planning. Therefore, the quality of the robot's behavior is heavily dependent on how accurately the model can predict the outcome of the robot's actions in the environment. A challenge, however, is that no model is perfect; moreover, we often do not know where discrepancies between the model's prediction and the actual outcome occur prior to observing exe...
