自律ロボットのための最適制御と学習制御
Optimal and Learning Control for Autonomous Robots
最適制御と強化学習を統一的な視点から解説するETH Zurichの講義ノートで、最適制御問題の定式化から各種解法・アルゴリズムを導出し、分野間の用語や記法の対応も整理している。
著者: Jonas Buchli, Farbod Farshidian, Alexander Winkler, Timothy Sandy, Markus Giftthaler
分類: eess.SY, cs.LG, cs.RO, cs.SY, math.OC
原文アブストラクト
Optimal and Learning Control for Autonomous Robots has been taught in the Robotics, Systems and Controls Masters at ETH Zurich with the aim to teach optimal control and reinforcement learning for closed loop control problems from a unified point of view. The starting point is the formulation of of an optimal control problem and deriving the different types of solutions and algorithms from there. These lecture notes aim at supporting this unified view with a unified notation wherever possible, and a bit of a translation help to compare the terminology and notation in the different fields. The course assumes basic knowledge of Control Theory, Linear Algebra and Stochastic Calculus.
