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The time-freezing reformulation for numerical optimal control of complementarity Lagrangian systems with state jumps.
Armin Nurkanovic
Sebastian Albrecht
Bernard Brogliato
Moritz Diehl
Published in:
Autom. (2023)
Keyphrases
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optimal control
control problems
dynamic programming
markov chain
control strategy
numerical methods
risk sensitive
control law
brownian motion