Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation.
Marc ToussaintJason HarrisJung-Su HaDanny DriessWolfgang HönigPublished in: IROS (2022)
Keyphrases
- optimal control
- feedback control
- dynamic programming
- control problems
- control strategy
- linear quadratic
- reinforcement learning
- sequential data
- optimal control problems
- infinite horizon
- class of nonlinear systems
- risk sensitive
- brownian motion
- constrained optimization
- lyapunov function
- optimization problems
- state space
- neural network
- real time