Accuracy Prevents Robustness in Perception-based Control

16 Mar 2020 Makdah Abed AlRahman Al Katewa Vaibhav Pasqualetti Fabio

In this paper we prove the existence of a fundamental trade-off between accuracy and robustness in perception-based control, where control decisions rely solely on data-driven, and often incompletely trained, perception maps. In particular, we consider a control problem where the state of the system is estimated from measurements extracted from a high-dimensional sensor, such as a camera... (read more)

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  • OPTIMIZATION AND CONTROL