Trajectory Optimization on Matrix Lie Groups with Differential Dynamic Programming and Nonlinear Constraints.
Gokhan AlcanFares J. Abu-DakkaVille KyrkiPublished in: CoRR (2023)
Keyphrases
- lie group
- dynamic programming
- lagrange multipliers
- constrained optimization
- infinite dimensional
- parameter space
- vector space
- riemannian manifolds
- linear transformation
- mean shift
- geometric structure
- euclidean space
- vector field
- covariance matrices
- finite dimensional
- penalty function
- maximum likelihood
- linear programming