The authors introduce stochastic simulation functions for partially observed systems to enable layered control with guaranteed bounds on expected output distances, providing explicit constructions for linear systems using Kalman estimators and demonstrating on aerial robots.
Hierarchical control for cyber-physical systems via general approximate alternating simulation relations,
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Layered Control of Partially Observed Stochastic Systems
The authors introduce stochastic simulation functions for partially observed systems to enable layered control with guaranteed bounds on expected output distances, providing explicit constructions for linear systems using Kalman estimators and demonstrating on aerial robots.