OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control

This paper presents OpTaS, a task specification Python library for Trajectory Optimization (TO) and Model Predictive Control (MPC) in robotics. Both TO and MPC are increasingly receiving interest in optimal control and in particular handling dynamic environments. While a flurry of software libraries...

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Veröffentlicht in:	arXiv.org
Hauptverfasser:	Mower, Christopher E, Moura, João, Nazanin Zamani Behabadi, Vijayakumar, Sethu, Vercauteren, Tom, Bergeles, Christos
Format:	Paper
Sprache:	Englisch
Veröffentlicht:	Ithaca Cornell University Library, arXiv.org 31.01.2023
Schlagworte:	Control tasks Libraries Optimal control Optimization Parameter modification Predictive control Programming languages Robotics Source code Specifications Task space Trajectory optimization
ISSN:	2331-8422
Online-Zugang:	Volltext
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