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FATROP: A Fast Constrained Optimal Control Problem Solver for Robot Trajectory Optimization and Control.
Lander Vanroye
Ajay Sathya
Joris De Schutter
Wilm Decré
Published in:
IROS (2023)
Keyphrases
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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