Risk-aware optimal policy/value function movies
Here we provide supplemental movies showing how optimal steering/switching feedback policies evolve (for both tacks simultaneously) from the maximum \(s = \bar{s}\) to \(s = 0\) in a decreasing order.
- As in the main text, for the optimal policy plot: Colors indicate the optimal steering angle \(u_*\) in the current tack, while the complement (left blank) shows all the (\(r, \theta \)) configurations at which the immediate tack-switch is optimal.
- All examples are computed on a \(1601 \times 1601 \times 2\) uniform grid in the \(r, \theta, q\)-space with \(\Delta s = 0.025\)
Moives:
The follownig 4 movies all show contour plots in the relative (\(r, \theta \))-space where within each frame:
- Top Row: Starboard Tack ( \( q = 1 \) )
- Bottom Row: Port Tack ( \( q = 2 \) )
- Left: Optimal probability of reaching the target within a given deadline \(s\)
- Right: The corresponding pptimal steering / switching policy