Examples of Optimal Risk-aware Sailboat Path-planning

These examples are from the following paper:

View manuscript on arXiv »

All of the computations/examples use the following parameters:

Switching cost: \(C = 2.0\)
Radius of the circular target: \(R_B = 0.1\)
Maximum radius of the spatial domain: \(R_{max} = 2.0\)
Maximum speed of a sailboat: \(f_{max} = 0.05\)

Risk-aware optimal policy/value function evolution movies:

Evolution of threshold-aware policies/value functions »

Sailboat sample paths visualization movies:

Sample paths visualizations »

"Forced-to-switch-initially" visualization movies:

Switchgrid difference + success reduction visualizations »