FATROP: A Fast Constrained Optimal Control Problem Solver for Robot Trajectory Optimization and Control.
Lander VanroyeAjay SathyaJoris De SchutterWilm DecréPublished in: IROS (2023)
Keyphrases
- optimal control
- optimal control problems
- control problems
- control strategy
- feedback control
- control law
- dynamic programming
- mobile robot
- trajectory tracking
- infinite horizon
- class of nonlinear systems
- reference trajectory
- stochastic control
- reinforcement learning
- visual servoing
- robot motion
- brownian motion
- lyapunov function
- autonomous robots
- control system
- robotic systems
- linear quadratic
- risk sensitive
- neural network
- optimization algorithm
- control theory
- collision free
- force control
- dynamical systems
- robot manipulators
- lagrange multipliers
- optimization problems
- constrained optimization