Path Integral Control and State Dependent Feedback
Optimization and Control
2016-01-06 v4
Abstract
In this paper we address the problem to compute state dependent feedback controls for path integral control problems. To this end we generalize the path integral control formula and utilize this to construct parameterized state dependent feedback controllers. In addition, we show a novel relation between control and importance sampling: better control, in terms of control cost, yields more efficient importance sampling, in terms of effective sample size. The optimal control provides a zero-variance estimate.
Keywords
Cite
@article{arxiv.1406.4026,
title = {Path Integral Control and State Dependent Feedback},
author = {Sep Thijssen and H. J. Kappen},
journal= {arXiv preprint arXiv:1406.4026},
year = {2016}
}