
Electrical and Computer Engineering ETDs
Publication Date
Summer 7-11-2019
Abstract
A solution to the terminal-hitting and first-hitting stochastic reach-avoid problem for a Markov control process is presented. This solution takes advantage of a nonparametric representation of the stochastic kernel as a conditional distribution embedding within a reproducing kernel Hilbert space (RKHS). Because the disturbance is modeled as a data-driven stochastic process, this representation avoids intractable integrals in the dynamic recursion of the reach-avoid problem since the expectations can be calculated as an inner product within the RKHS. An example using a high-dimensional chain of integrators is presented, as well as for Clohessy-Wiltshire-Hill (CWH) dynamics.
Keywords
Kernel Methods, Stochastic Systems, Reachability, Safety, Optimal Control, Dynamic Programming
Document Type
Thesis
Language
English
Degree Name
Electrical Engineering
Level of Degree
Masters
Department Name
Electrical and Computer Engineering
First Committee Member (Chair)
Meeko Mitsuko Karen Oishi
Second Committee Member
Eirini Eleni Tsiropoulou
Third Committee Member
John Richards
Recommended Citation
Thorpe, Adam J.. "Verification of Stochastic Reach-Avoid Using RKHS Embeddings." (2019). https://digitalrepository.unm.edu/ece_etds/464