IEEE - Institute of Electrical and Electronics Engineers, Inc. - Regularized Hierarchical Differential Dynamic Programming

Author(s): Mathieu Geisert ; Andrea Del Prete ; Nicolas Mansard ; Francesco Romano ; Francesco Nori
Sponsor(s): IEEE Robotics and Automation Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Volume: PP
Page(s): 1 - 15
ISSN (Paper): 1552-3098
ISSN (Online): 1941-0468
DOI: 10.1109/TRO.2017.2671355
Regular:

This paper presents a new algorithm for optimal control (OC) of nonlinear dynamical systems. The main feature of this algorithm is that it allows the specification of the control objectives as a... View More

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