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

COinS