%PDF-1.7
%
1 0 obj
<<
/Lang (en-GB)
/MarkInfo <<
/Marked true
>>
/Metadata 2 0 R
/OpenAction 3 0 R
/PageLabels 4 0 R
/PageLayout /SinglePage
/PageMode /UseThumbs
/Pages 5 0 R
/StructTreeRoot 6 0 R
/Type /Catalog
/ViewerPreferences <<
/Direction /L2R
>>
>>
endobj
7 0 obj
<<
/Author (Cees F. Verdier)
/AuthoritativeDomain#5B1#5D (sciencedirect.com)
/AuthoritativeDomain#5B2#5D (elsevier.com)
/CreationDate (D:20191020224420-07'00')
/Creator (Elsevier)
/ElsevierWebPDFSpecifications (6.5)
/Keywords (nonlinear optimal control; reinforcement learning; value iteration; verification; vehicle safety)
/ModDate (D:20191223105051+01'00')
/Producer (Adobe PDF Library 15.0)
/Subject (IFAC-PapersOnLine, 52 \(2019\) 230-235. doi:10.1016/j.ifacol.2019.09.146)
/Title (Near Optimal Control With Reachability and Safety Guarantees)
/doi (10.1016/j.ifacol.2019.09.146)
/robots (noindex)
>>
endobj
2 0 obj
<<
/Length 5905
/Subtype /XML
/Type /Metadata
>>
stream
2019-10-20T22:44:20-07:00
Elsevier
2019-12-23T10:50:51+01:00
2019-12-23T10:50:51+01:00
Adobe PDF Library 15.0
nonlinear optimal control; reinforcement learning; value iteration; verification; vehicle safety
application/pdf
doi:10.1016/j.ifacol.2019.09.146
Near Optimal Control With Reachability and Safety Guarantees
Cees F. Verdier
Robert Babuška
Barys Shyrokau
Manuel Mazo Jr.
IFAC-PapersOnLine, 52 (2019) 230-235. doi:10.1016/j.ifacol.2019.09.146
Elsevier Ltd
nonlinear optimal control
reinforcement learning
value iteration
verification
vehicle safety
uuid:fd8cfc10-4791-4a8b-8025-00abb91efa0c
uuid:df031f6e-c025-4907-bd53-606fd95b6996
journal
© 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd.
IFAC-PapersOnLine
2405-8963
52
11
10.1016/j.ifacol.2019.09.146
https://doi.org/10.1016/j.ifacol.2019.09.146
230
235
230-235
2019
sciencedirect.com
elsevier.com
6.5
10.1016/j.ifacol.2019.09.146
noindex
endstream
endobj
3 0 obj
<<
/D [8 0 R /FitH null]
/S /GoTo
>>
endobj
4 0 obj
<<
/Nums [0 9 0 R]
>>
endobj
5 0 obj
<<
/Count 7
/Kids [10 0 R 8 0 R 11 0 R 12 0 R 13 0 R 14 0 R 15 0 R]
/Type /Pages
>>
endobj
6 0 obj
<<
/ClassMap 16 0 R
/K 17 0 R
/ParentTree 18 0 R
/ParentTreeNextKey 6
/RoleMap 19 0 R
/Type /StructTreeRoot
>>
endobj
8 0 obj
<<
/ArtBox [0.0 0.0 595.276 793.701]
/BleedBox [0.0 0.0 595.276 793.701]
/Contents [20 0 R 21 0 R 22 0 R 23 0 R 24 0 R 25 0 R 26 0 R 27 0 R]
/CropBox [0.0 0.0 595.276 793.701]
/Group 28 0 R
/MediaBox [0.0 0.0 595.276 793.701]
/Parent 5 0 R
/Resources <<
/ColorSpace <<
/CS0 [/ICCBased 29 0 R]
>>
/ExtGState <<
/GS0 30 0 R
/GS1 31 0 R
/GS2 32 0 R
>>
/Font <<
/T1_0 33 0 R
/T1_1 34 0 R
/T1_10 35 0 R
/T1_11 36 0 R
/T1_12 37 0 R
/T1_13 38 0 R
/T1_14 39 0 R
/T1_15 40 0 R
/T1_16 41 0 R
/T1_17 42 0 R
/T1_18 43 0 R
/T1_19 44 0 R
/T1_2 45 0 R
/T1_20 46 0 R
/T1_21 47 0 R
/T1_22 48 0 R
/T1_3 49 0 R
/T1_4 50 0 R
/T1_5 51 0 R
/T1_6 52 0 R
/T1_7 53 0 R
/T1_8 54 0 R
/T1_9 55 0 R
/TT0 56 0 R
/TT1 57 0 R
/TT2 58 0 R
/TT3 59 0 R
>>
/ProcSet [/PDF /Text]
/Properties <<
/MC0 60 0 R
/MC1 61 0 R
/MC2 62 0 R
/MC3 63 0 R
/MC4 64 0 R
/MC5 65 0 R
/MC6 66 0 R
>>
/XObject <<
/Fm0 67 0 R
/Fm1 68 0 R
/Fm2 69 0 R
>>
>>
/Rotate 0
/StructParents 4
/Thumb 70 0 R
/TrimBox [0.0 0.0 595.276 793.701]
/Type /Page
>>
endobj
9 0 obj
<<
/S /D
/St 230
>>
endobj
10 0 obj
<<
/Contents 71 0 R
/Type /Page
/Resources <<
/Font <<
/F1 72 0 R
>>
/XObject <<
/Xf1 73 0 R
>>
>>
/Annots [74 0 R 75 0 R]
/Parent 5 0 R
/MediaBox [0 0 595 842]
>>
endobj
11 0 obj
<<
/ArtBox [0.0 0.0 595.276 793.701]
/BleedBox [0.0 0.0 595.276 793.701]
/Contents 76 0 R
/CropBox [0.0 0.0 595.276 793.701]
/MediaBox [0.0 0.0 595.276 793.701]
/Parent 5 0 R
/Resources <<
/ColorSpace <<
/CS0 [/ICCBased 29 0 R]
>>
/ExtGState <<
/GS0 30 0 R
/GS1 32 0 R
>>
/Font <<
/T1_0 38 0 R
/T1_1 39 0 R
/T1_2 40 0 R
/T1_3 41 0 R
/T1_4 42 0 R
/T1_5 43 0 R
/T1_6 44 0 R
/T1_7 46 0 R
/T1_8 47 0 R
/T1_9 48 0 R
/TT0 77 0 R
/TT1 56 0 R
/TT2 58 0 R
/TT3 59 0 R
>>
/ProcSet [/PDF /Text]
/Properties <<
/MC0 78 0 R
>>
>>
/Rotate 0
/StructParents 1
/Thumb 79 0 R
/TrimBox [0.0 0.0 595.276 793.701]
/Type /Page
>>
endobj
12 0 obj
<<
/ArtBox [0.0 0.0 595.276 793.701]
/BleedBox [0.0 0.0 595.276 793.701]
/Contents 80 0 R
/CropBox [0.0 0.0 595.276 793.701]
/MediaBox [0.0 0.0 595.276 793.701]
/Parent 5 0 R
/Resources <<
/ColorSpace <<
/CS0 [/ICCBased 29 0 R]
>>
/ExtGState <<
/GS0 30 0 R
/GS1 32 0 R
>>
/Font <<
/T1_0 81 0 R
/T1_1 82 0 R
/T1_10 83 0 R
/T1_11 84 0 R
/T1_12 85 0 R
/T1_13 86 0 R
/T1_14 87 0 R
/T1_15 88 0 R
/T1_16 89 0 R
/T1_17 90 0 R
/T1_18 91 0 R
/T1_19 92 0 R
/T1_2 93 0 R
/T1_20 94 0 R
/T1_21 95 0 R
/T1_22 96 0 R
/T1_23 97 0 R
/T1_24 98 0 R
/T1_25 99 0 R
/T1_26 100 0 R
/T1_27 101 0 R
/T1_28 102 0 R
/T1_29 103 0 R
/T1_3 104 0 R
/T1_30 105 0 R
/T1_31 106 0 R
/T1_32 107 0 R
/T1_4 108 0 R
/T1_5 109 0 R
/T1_6 110 0 R
/T1_7 111 0 R
/T1_8 112 0 R
/T1_9 113 0 R
/TT0 56 0 R
/TT1 77 0 R
/TT2 114 0 R
/TT3 115 0 R
/TT4 116 0 R
/TT5 117 0 R
>>
/ProcSet [/PDF /Text]
/Properties <<
/MC0 118 0 R
/MC1 119 0 R
>>
>>
/Rotate 0
/StructParents 2
/Thumb 120 0 R
/TrimBox [0.0 0.0 595.276 793.701]
/Type /Page
>>
endobj
13 0 obj
<<
/ArtBox [0.0 0.0 595.276 793.701]
/BleedBox [0.0 0.0 595.276 793.701]
/Contents 121 0 R
/CropBox [0.0 0.0 595.276 793.701]
/MediaBox [0.0 0.0 595.276 793.701]
/Parent 5 0 R
/Resources <<
/ColorSpace <<
/CS0 [/ICCBased 29 0 R]
>>
/ExtGState <<
/GS0 30 0 R
/GS1 32 0 R
>>
/Font <<
/T1_0 91 0 R
/T1_1 92 0 R
/T1_10 102 0 R
/T1_11 103 0 R
/T1_12 105 0 R
/T1_13 106 0 R
/T1_14 107 0 R
/T1_2 94 0 R
/T1_3 95 0 R
/T1_4 96 0 R
/T1_5 97 0 R
/T1_6 98 0 R
/T1_7 99 0 R
/T1_8 100 0 R
/T1_9 101 0 R
/TT0 77 0 R
/TT1 56 0 R
/TT2 116 0 R
/TT3 117 0 R
>>
/ProcSet [/PDF /Text]
/Properties <<
/MC0 122 0 R
>>
>>
/Rotate 0
/Thumb 123 0 R
/TrimBox [0.0 0.0 595.276 793.701]
/Type /Page
>>
endobj
14 0 obj
<<
/ArtBox [0.0 0.0 595.276 793.701]
/BleedBox [0.0 0.0 595.276 793.701]
/Contents 124 0 R
/CropBox [0.0 0.0 595.276 793.701]
/Group 125 0 R
/MediaBox [0.0 0.0 595.276 793.701]
/Parent 5 0 R
/Resources <<
/ColorSpace <<
/CS0 [/ICCBased 29 0 R]
>>
/ExtGState <<
/GS0 30 0 R
/GS1 32 0 R
/GS2 126 0 R
>>
/Font <<
/T1_0 127 0 R
/T1_1 128 0 R
/T1_10 129 0 R
/T1_11 130 0 R
/T1_12 131 0 R
/T1_13 132 0 R
/T1_14 133 0 R
/T1_15 134 0 R
/T1_16 135 0 R
/T1_17 136 0 R
/T1_18 137 0 R
/T1_19 138 0 R
/T1_2 139 0 R
/T1_20 140 0 R
/T1_21 141 0 R
/T1_22 142 0 R
/T1_23 143 0 R
/T1_24 144 0 R
/T1_25 145 0 R
/T1_3 146 0 R
/T1_4 147 0 R
/T1_5 148 0 R
/T1_6 149 0 R
/T1_7 150 0 R
/T1_8 151 0 R
/T1_9 152 0 R
/TT0 56 0 R
/TT1 77 0 R
/TT2 153 0 R
/TT3 154 0 R
/TT4 155 0 R
/TT5 156 0 R
>>
/ProcSet [/PDF /Text]
/Properties <<
/MC0 157 0 R
/MC1 158 0 R
>>
/Shading <<
/Sh0 159 0 R
>>
/XObject <<
/Fm0 160 0 R
>>
>>
/Rotate 0
/StructParents 5
/Thumb 161 0 R
/TrimBox [0.0 0.0 595.276 793.701]
/Type /Page
>>
endobj
15 0 obj
<<
/ArtBox [0.0 0.0 595.276 793.701]
/BleedBox [0.0 0.0 595.276 793.701]
/Contents 162 0 R
/CropBox [0.0 0.0 595.276 793.701]
/MediaBox [0.0 0.0 595.276 793.701]
/Parent 5 0 R
/Resources <<
/ColorSpace <<
/CS0 [/ICCBased 29 0 R]
>>
/ExtGState <<
/GS0 30 0 R
/GS1 32 0 R
>>
/Font <<
/T1_0 137 0 R
/T1_1 138 0 R
/T1_2 140 0 R
/T1_3 141 0 R
/T1_4 142 0 R
/T1_5 143 0 R
/T1_6 144 0 R
/T1_7 145 0 R
/TT0 77 0 R
/TT1 56 0 R
/TT2 155 0 R
/TT3 156 0 R
>>
/ProcSet [/PDF /Text]
/Properties <<
/MC0 163 0 R
>>
/XObject <<
/Fm0 164 0 R
>>
>>
/Rotate 0
/Thumb 165 0 R
/TrimBox [0.0 0.0 595.276 793.701]
/Type /Page
>>
endobj
16 0 obj
<<
/A0 <<
/LineHeight 8.0
/O /Layout
>>
/A2 <<
/LineHeight 9.0
/O /Layout
>>
/A3 <<
/LineHeight 10.0
/O /Layout
>>
/Pa1 <<
/LineHeight 12.0
/O /Layout
>>
/Pa2 <<
/LineHeight 8.0
/O /Layout
>>
>>
endobj
17 0 obj
<<
/K 166 0 R
/Lang (en-GB)
/P 6 0 R
/S /Document
>>
endobj
18 0 obj
<<
/Nums [0 [null null null 167 0 R 168 0 R 169 0 R 170 0 R]
1 [null null null null null null null null null null
null null null null null null null null null null
null 171 0 R 171 0 R 171 0 R 171 0 R 171 0 R 171 0 R]
2 [null null null null null null null null null null
null null null null null null null null null null
null null null null null null null 172 0 R 172 0 R 172 0 R
172 0 R 172 0 R 172 0 R 173 0 R 174 0 R]
3 [null null 175 0 R]
4 [176 0 R 177 0 R null null null null null 178 0 R 178 0 R 178 0 R
179 0 R 180 0 R 181 0 R 182 0 R 183 0 R 184 0 R 185 0 R 186 0 R 187 0 R 188 0 R
189 0 R]
5 [null null null null null null null null null null
null null null null null null null null null null
null null null null null null null null null null
null null null null null 190 0 R 191 0 R]
]
>>
endobj
19 0 obj
<<
/Article /Art
/NormalParagraphStyle /P
/RH_Left /P
/RunningHead /P
/Story /Sect
>>
endobj
20 0 obj
<<
/Length 7999
/Filter /FlateDecode
>>
stream
HWYG~oP]yTu/6Q>4B˪mYI}#2"3#Y1:8"oo7\p}d{u'Ϟv'W{_qs=.}MgfLcg؛0n ;Cy}Ë{]~{/?t٭z.mwcv_7?W筴l3Ace " o,ycW/>ٯ_,aӠ#ofqrl;7_ĿY3Q~cc>Ptsch9 :뀎:
fxntp߷x0f@L rNi5xȾ{$u-~şNGYlbr Mʟ k(+r fX.6Ceu;7Q1&0Bd}{ɭM6W F`_&Z
|r[ZY~X#'7J6L=mrg6aJ$RشCB-|H01S&buCT Y,hO?`3嘩e7[O㪓Oa@덷S)=*;zVKTviZp,$w_]0[ h
V^#^+ K|`^q]\ԓ$LÒ@nS6Vm(zHdO}tmj`nN,75w*Cj{&uȠ7<_;-!Hи'B BCʓ2
dh
lzQ,¸PfҮs)0f#+i,zh;E$%LwCވ30ږR2uӅe&Me'eĄl"cv[ƕ N(أkD
流3͠}[ڂ>fSҵ]Ek Or*l>1WLd8TxGX8NsjQ5IDCn.h2
}2p/vI,L]iTgx뱯MGs.c?om5=lK܃hi9·PA?$.Uf|ӖUn!G˨+gqz,{+(p(gı%fP_^fXAΧ>JKӫ8͕šR`=m+ )oe/lPf2(F؊ڝ'==ԅ\x7WR^<cphGA",A1EA}cI 8nVbdwFq`h(u+Q(]*@zi26j`kM(I [\$Rtѝ8hJŀW=,k-sq\(3vj$+3dQjڅSoqZ5/rG#Ð3RYԵm)cʵ[} -èkɆA#G2g]Ԥh!KaXTCnhW4^,_(t+(sl.wrKL,$sU=Q!*~T3\P:8xZ
ɯG%3ԑ%w.+*EsЌ$\/tUl8TG[ZX%;63;7ɬdRK1<DnK~Jl,F%tQMySՙW°Jh{q
ṻtjXXtR=^KWL'"/ڨEnsuEP7㧤9rk_2k%5cS:"-)n٫fpJ7@/ekÊT`!ir8sgCќa:pڹ3>gP$LgZ|3
`yF'y$#7l7W߿
機"Dti-8tލs"cyz8 V0&i9Lթe]p#U.G-)>UW4(R`