Exploring Model Predictive Control to Generate Optimal Control Policies for HRI Dynamical Systems.
Steven Jens JorgensenOrion CampbellTravis LladoDonghyun KimJunhyeok AhnLuis SentisPublished in: CoRR (2017)
Keyphrases
- dynamical systems
- control policies
- model predictive control
- control system
- human robot interaction
- control policy
- state space
- dynamic systems
- nonlinear dynamical systems
- action space
- reinforcement learning
- finite horizon
- optimal policy
- motion control
- control strategies
- dynamic programming
- predictive control
- real time
- partially observable markov decision processes
- state variables
- predictive state representations
- control algorithm
- closed loop
- path planning
- machine learning