LAUSR

Regularized Hierarchical Differential Dynamic Programming

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0 Published in 2017 at "IEEE Transactions on Robotics"

DOI: 10.1109/tro.2017.2671355

Abstract: 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 hierarchy of tasks,… read more here.

Keywords: task; differential dynamic; control; regularized hierarchical ... See more keywords