On the Problem of Reformulating Systems with Uncertain Dynamics as a Stochastic Differential Equation
Systems and Control
2021-11-12 v1 Robotics
Systems and Control
Abstract
We identify an issue in recent approaches to learning-based control that reformulate systems with uncertain dynamics using a stochastic differential equation. Specifically, we discuss the approximation that replaces a model with fixed but uncertain parameters (a source of epistemic uncertainty) with a model subject to external disturbances modeled as a Brownian motion (corresponding to aleatoric uncertainty).
Keywords
Cite
@article{arxiv.2111.06084,
title = {On the Problem of Reformulating Systems with Uncertain Dynamics as a Stochastic Differential Equation},
author = {Thomas Lew and Apoorva Sharma and James Harrison and Edward Schmerling and Marco Pavone},
journal= {arXiv preprint arXiv:2111.06084},
year = {2021}
}