Discrete-Time Differential Dynamic Programming on Lie Groups: Derivation, Convergence Analysis, and Numerical Results.
George I. BoutselisEvangelos A. TheodorouPublished in: IEEE Trans. Autom. Control. (2021)
Keyphrases
- convergence analysis
- dynamic programming
- lie group
- global convergence
- infinite dimensional
- parameter space
- optimality conditions
- convergence rate
- linear programming
- riemannian manifolds
- approximation methods
- sensitivity analysis
- linear program
- euclidean space
- vector space
- vector field
- mean shift
- evolutionary algorithm
- state space
- nonlinear programming
- covariance matrices
- geometric structure