Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Engineering
Verification Of Stochastic Reach-Avoid Using Rkhs Embeddings, Adam J. Thorpe
Verification Of Stochastic Reach-Avoid Using Rkhs Embeddings, Adam J. Thorpe
Electrical and Computer Engineering ETDs
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.