FATROP : A Fast Constrained Optimal Control Problem Solver for Robot Trajectory Optimization and Control.
Lander VanroyeAjay SathyaJoris De SchutterWilm DecréPublished in: CoRR (2023)
Keyphrases
- optimal control
- optimal control problems
- control problems
- control strategy
- feedback control
- control law
- dynamic programming
- trajectory tracking
- reference trajectory
- visual servoing
- mobile robot
- risk sensitive
- control theory
- infinite horizon
- reinforcement learning
- brownian motion
- lyapunov function
- class of nonlinear systems
- robot motion
- force control
- robotic systems
- real time
- stochastic control
- path planning
- autonomous robots
- robot manipulators
- collision free
- control scheme
- closed loop
- adaptive control
- optimization algorithm
- optimization problems
- control method
- fuzzy controller
- linear quadratic
- particle swarm optimization
- production planning