Reaching the limit in autonomous racing: Optimal control versus reinforcement learning.
Yunlong SongAngel RomeroMatthias MüllerVladlen KoltunDavide ScaramuzzaPublished in: Sci. Robotics (2023)
Keyphrases
- optimal control
- reinforcement learning
- control problems
- dynamic programming
- feedback control
- control strategy
- infinite horizon
- class of nonlinear systems
- actor critic
- rl algorithms
- risk sensitive
- optimal control problems
- state space
- lyapunov function
- reinforcement learning algorithms
- function approximation
- autonomous learning
- control law
- markov decision processes
- optimal policy