Výsledky vyhledávání - Differential dynamic programming (DDP) algorithm

VS-DDP: Variable Splitting Based Differential Dynamic Programming Algorithm for Autonomous Trajectory Planning Autor Su, Jie, Gao, Rui, Xu, Zhenghao, Zhang, Weidong

“…In this article, we introduce a novel trajectory planning approach for autonomous vehicle, called as Variable Splitting based Differential Dynamic Programming (VS-DDP…”
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Terminal Trajectory Planning for the First-Stage Booster of Rocket Recovery by Parafoil System in Complex Obstacle Environments Autor Xing, Xiaojun, Wang, Rui, Gong, Qianchao, Xiao, Bing

“… turbulences dynamic obstacles, is proposed in this paper. The method generates initial PFC trajectory by Model Predictive Static Programming (MPSP…”
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Interior Point Differential Dynamic Programming Autor Pavlov, Andrei, Shames, Iman, Manzie, Chris

“…This brief introduces a novel differential dynamic programming (DDP) algorithm for solving discrete-time finite-horizon optimal control problems with inequality constraints…”
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Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control Autor Mastalli, Carlos, Budhiraja, Rohan, Merkt, Wolfgang, Saurel, Guilhem, Hammoud, Bilal, Naveau, Maximilien, Carpentier, Justin, Righetti, Ludovic, Vijayakumar, Sethu, Mansard, Nicolas

“… Additionally, we propose a novel optimal control algorithm called Feasibility-driven Differential Dynamic Programming (FDDP…”
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Constraint augmented differential dynamic programming for humanoid robot automatic falling recovery Autor Jin, Mingyue, Gao, Junyao, Jin, Xiaokun, Xie, Leilei, Zuo, Weilong, Wu, Taiping, Liu, Jiongnan, Huang, Jiahang

“… To address this challenge, the constraint augmented differential dynamic programming (CA-DDP) algorithm is proposed in our work to enable the humanoid robot to recover from arbitrary fall posture…”
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H∞-Optimal Control via Game-Theoretic Differential Dynamic Programming and Gaussian Processes Autor Sun, Wei, Trafalis, Theodore B.

“…In this paper, we present a nonlinear H ∞ -optimal control algorithm for a system whose dynamics can be described by the summation of two terms…”
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Accelerating Second-Order Differential Dynamic Programming for Rigid-Body Systems Autor Nganga, John N., Wensing, Patrick M.

“…This letter presents a method to reduce the computational demands of including second-order dynamics sensitivity information into the Differential Dynamic Programming (DDP…”
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Newton’s Method, Bellman Recursion and Differential Dynamic Programming for Unconstrained Nonlinear Dynamic Games Autor Di, Bolei, Lamperski, Andrew

“… In this paper, we show how to extend the Newton step algorithm, the Bellman recursion and the popular differential dynamic programming (DDP…”
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Differential dynamic programming for finite‐horizon zero‐sum differential games of nonlinear systems Autor Zhang, Bin, Jia, Yingmin, Zhang, Yuqi

“…In this article, we present an iterative algorithm based on differential dynamic programming (DDP) for finite‐horizon two‐person zero…”
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Data-Driven Optimal Tracking Control of Nonlinear Affine Systems Based on Differential Dynamic Programming Autor Zhang, Bin, Ma, Conghui, Yan, Lutao, Li, Haiyuan, Xia, Jiqiang

“…In this paper, a data-driven differential dynamic programming (DDP) algorithm is presented for the optimal tracking problems of nonlinear affine systems with unknown drift dynamics…”
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Spacecraft Trajectory Optimisation Using Differential Dynamic Programming Autor Mondino, Pietro, Saladino, Vincenzo

“… In this paper, the Differential Dynamic Programming (DDP) optimisation algorithm is initially introduced as a proven second-order technique that relies…”
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Hydroelectric generation scheduling with an effective differential dynamic programming algorithm Autor Shi-Chung Chang, Chun-Hung Chen, I-Kong Fong, Luh, P.B.

“…An effective multiplier method-based differential dynamic programming (DDP) algorithm for solving the hydroelectric generation scheduling problem (HSP) is presented…”
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Leveraging randomized smoothing for optimal control of nonsmooth dynamical systems Autor Le Lidec, Quentin, Schramm, Fabian, Montaut, Louis, Schmid, Cordelia, Laptev, Ivan, Carpentier, Justin

“…Optimal control (OC) algorithms such as differential dynamic programming (DDP) take advantage of the derivatives of the dynamics to control physical systems efficiently…”
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ProxDDP: Proximal Constrained Trajectory Optimization Autor Jallet, Wilson, Bambade, Antoine, Arlaud, Etienne, El-Kazdadi, Sarah, Mansard, Nicolas, Carpentier, Justin

“… Many of these said are based on the differential dynamic programming (DDP) algorithm-initially designed for unconstrained trajectory optimization problems…”
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Semi-Definite Relaxation-Based ADMM for Cooperative Planning and Control of Connected Autonomous Vehicles Autor Zhang, Xiaoxue, Cheng, Zilong, Ma, Jun, Huang, Sunan, Lewis, Frank L., Lee, Tong Heng

“…This paper investigates the cooperative planning and control problem for multiple connected autonomous vehicles (CAVs) in different scenarios. In the existing…”
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Differential Dynamic Programming Based Home Energy Management Scheduler Autor Jeddi, Babak, Mishra, Yateendra, Ledwich, Gerard

“…), a battery energy storage systems, and controllable appliances. Differential dynamic programming (DDP…”
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Learning-Based Nonlinear H∞ Control via Game-Theoretic Differential Dynamic Programming Autor Sun, Wei, Trafalis, Theodore B.

“… ∞ control is then formulated to obtain the nonlinear H ∞ controller. The differential game is solved through the min-max Game-Theoretic Differential Dynamic Programming (GT-DDP…”
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Feedback MPC for Torque-Controlled Legged Robots Autor Grandia, Ruben, Farshidian, Farbod, Ranftl, Rene, Hutter, Marco

“… In this work, we show that the feedback policy from a Differential Dynamic Programming (DDP) based MPC algorithm is a viable alternative to bridge the gap between the low MPC update rate and the actuation command rate…”
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Squash-Box Feasibility Driven Differential Dynamic Programming Autor Marti-Saumell, Josep, Sola, Joan, Mastalli, Carlos, Santamaria-Navarro, Angel

“…Recently, Differential Dynamic Programming (DDP) and other similar algorithms have become the solvers of choice when performing non-linear Model Predictive Control (nMPC…”
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Safety Embedded Differential Dynamic Programming Using Discrete Barrier States Autor Almubarak, Hassan, Stachowicz, Kyle, Sadegh, Nader, Theodorou, Evangelos A.

“… This allows us to employ the DBaS with differential dynamic programming (DDP) to plan and execute safe optimal trajectories…”
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