Discrete Geometric Optimal Control on Lie Groups.
Marin KobilarovJerrold E. MarsdenPublished in: IEEE Trans. Robotics (2011)
Keyphrases
- optimal control
- lie group
- geometric structure
- dynamic programming
- infinite dimensional
- parameter space
- finite dimensional
- vector field
- euclidean space
- infinite horizon
- linear transformation
- vector space
- riemannian manifolds
- control strategy
- reinforcement learning
- covariance matrices
- mean shift
- lagrange multipliers
- linear programming
- convex sets
- tensor field