Title	On-The-Fly Control of Unknown Smooth Systems from Limited Data systems
Authors	Franck Djeumou, Abraham P. Vinod, Eric Goubault, Sylvie Putot, and Ufuk Topcu
Conference	American Control Conference, 2021

Disclaimer: The code is provided as-is, no updates expected. A new and complete version of DaTaReach and DaTaControl (data-driven algorithms to over-approximate the reachable set and control unknown systems, respectively) based on recent results will be upload soon.

This repository provides codes to reproduce the experiments and figures of the paper.

• Construction of data-driven differential inclusions and computation of over-approximations of the reachable set of dynamics described by the differential inclusions.
  • Figures 2 and 3 in the paper are given by Unicycle_diff_inclusion_and_reach_set.ipynb
• Empirical comparison of our algorithm DaTaControl with data-driven approaches C2Opt(https://github.com/u-t-autonomous/ACC2020_C2Opt), SINDYc, CGP-LCB, and Opt. Traj. solving the optimal control problem if the dynamics were known.
  • Unicycle: Figure 4 in the paper is given by Unicycle_datacontrol.ipynb
  • Quadrotor: Figure 5 in the paper is given by Quadrotor_datacontrol.ipynb

Installation and Reproducibility Instructions

First, clone this repository and navigate inside the directory

git clone https://github.com/u-t-autonomous/ACC2021_DaTaReach_DaTaControl.git
cd ACC2021_DaTaReach_DaTaControl

In order to get the exact environment used for developing and testing this code, execute the following commands

conda env create --file datarc_env.yml
conda activate datarc_env
# python -m pip install -e .
# # Install also `C2Opt` (an older version) attached with this repository
# cd ACC2020_C2Opt/congol/
# python -m pip install -e .
# cd ../../

Getting Started

Read the Paper for Important Details

Most of the conceptual details for this repository are primarily described in the final version of the paper. Here, we provide the extended version on Arxiv of the conference paper.

@misc{djeumou2021onthefly,
      title={On-The-Fly Control of Unknown Smooth Systems from Limited Data},
      author={Franck Djeumou and Abraham P. Vinod and Eric Goubault and Sylvie Putot and Ufuk Topcu},
      year={2021},
      eprint={2009.12733},
      archivePrefix={arXiv},
      primaryClass={eess.SY}
}

Contact

Please contact Franck Djeumou (fdjeumou@utexas.edu) for questions regarding this code.