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A Simple Formulation for Fast Prioritized Optimal Control of Robots using Weighted Exact Penalty Functions.
Ajay Suresha Sathya
Wilm Decré
Goele Pipeleers
Jan Swevers
Published in:
ICRA (2022)
Keyphrases
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optimal control
penalty functions
dynamic programming
control problems
feedback control
class of nonlinear systems
control law
reinforcement learning
mobile robot
least squares
robotic systems
genetic algorithm
level set
genetic programming