Variational discretization for optimal control problems of nonholonomic mechanical systems.
Leonardo ColomboRohit GuptaAnthony M. BlochDavid Martín de DiegoPublished in: CDC (2015)
Keyphrases
- mechanical systems
- optimal control problems
- motion planning
- optimal control
- control theory
- control law
- production planning
- path planning
- degrees of freedom
- mobile robot
- solving nonlinear
- differential equations
- humanoid robot
- image segmentation
- dynamic programming
- gait analysis
- multi robot
- optical flow
- control strategy
- adaptive control
- continuous functions
- computer vision
- infinite horizon
- machine learning
- augmented lagrangian
- reinforcement learning
- image sequences