Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach.
Dennis OssadnikVasilije RakcevicMehmet Can YildirimEdmundo Pozo FortunicHugo T. M. KussabaAbdalla SwikirSami HaddadinPublished in: ICRA (2024)
Keyphrases
- optimal control
- dynamic programming
- control problems
- feedback control
- mobile robot
- control strategy
- risk sensitive
- multi robot
- autonomous robots
- reinforcement learning
- control law
- class of nonlinear systems
- optimal control problems
- robotic systems
- lyapunov function
- brownian motion
- neural network
- machine learning
- linear quadratic
- infinite horizon
- manipulation tasks
- data mining