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dc.contributor.authorHow, Jonathan P.
dc.contributor.authorBertuccelli, Luca F.
dc.contributor.authorBethke, Brett M.
dc.date.accessioned2010-10-06T17:10:04Z
dc.date.available2010-10-06T17:10:04Z
dc.date.issued2009-07
dc.date.submitted2009-06
dc.identifier.isbn978-1-4244-4523-3
dc.identifier.issn0743-1619
dc.identifier.otherINSPEC Accession Number: 10775888
dc.identifier.urihttp://hdl.handle.net/1721.1/58906
dc.description.abstractThis paper presents a new robust and adaptive framework for Markov decision processes that accounts for errors in the transition probabilities. Robust policies are typically found off-line, but can be extremely conservative when implemented in the real system. Adaptive policies, on the other hand, are specifically suited for on-line implementation, but may display undesirable transient performance as the model is updated though learning. A new method that exploits the individual strengths of the two approaches is presented in this paper. This robust and adaptive framework protects the adaptation process from exhibiting a worst-case performance during the model updating, and is shown to converge to the true, optimal value function in the limit of a large number of state transition observations. The proposed framework is investigated in simulation and actual flight experiments, and shown to improve transient behavior in the adaptation process and overall mission performance.en_US
dc.description.sponsorshipUnited States. Air Force Office of Scientific Research (grant FA9550-08-1-0086)en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/ACC.2009.5160511en_US
dc.rightsArticle is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.en_US
dc.sourceIEEEen_US
dc.titleRobust Adaptive Markov Decision Processes in Multi-vehicle Applicationsen_US
dc.typeArticleen_US
dc.identifier.citationBertuccelli, L.F., B. Bethke, and J.P. How. “Robust adaptive Markov Decision Processes in multi-vehicle applications.” American Control Conference, 2009. ACC '09. 2009. 1304-1309. ©2009 Institute of Electrical and Electronics Engineers.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Aerospace Controls Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Aeronautics and Astronauticsen_US
dc.contributor.approverHow, Jonathan P.
dc.contributor.mitauthorHow, Jonathan P.
dc.contributor.mitauthorBertuccelli, Luca F.
dc.contributor.mitauthorBethke, Brett M.
dc.relation.journalAmerican Control Conference, 2009. ACC '09en_US
dc.eprint.versionFinal published versionen_US
dc.type.urihttp://purl.org/eprint/type/JournalArticleen_US
eprint.statushttp://purl.org/eprint/status/PeerRevieweden_US
dspace.orderedauthorsBertuccelli, Luca F.; Bethke, Brett; How, Jonathan P.en
dc.identifier.orcidhttps://orcid.org/0000-0001-8576-1930
mit.licensePUBLISHER_POLICYen_US


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