Constrained Unscented Dynamic Programming

Plancher, B; Manchester, Z; Kuindersma, S

Plancher, B (reprint author), Harvard Univ, Sch Engn & Appl Sci, Cambridge, MA 02138 USA.

2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2017; ( ): 5674

Abstract

Differential Dynamic Programming (DDP) has become a popular approach to performing trajectory optimization for complex, underactuated robots. However,......

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