Optimal Control of a Rigid Body using Geometrically Exact Computations on SE(3).
Taeyoung LeeN. Harris McClamrochMelvin LeokPublished in: CDC (2006)
Keyphrases
- optimal control
- rigid body
- dynamic programming
- control problems
- motion parameters
- control strategy
- rigid body motion
- feedback control
- risk sensitive
- class of nonlinear systems
- reinforcement learning
- rigid objects
- rotation and translation
- infinite horizon
- optimal control problems
- control law
- real time
- stochastic control
- camera motion
- computer vision