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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Bibliographic Details

Published in:	arXiv.org
Main Authors:	Mower, Christopher E, Moura, João, Nazanin Zamani Behabadi, Vijayakumar, Sethu, Vercauteren, Tom, Bergeles, Christos
Format:	Paper
Language:	English
Published:	Ithaca Cornell University Library, arXiv.org 31.01.2023
Subjects:	Control tasks Libraries Optimal control Optimization Parameter modification Predictive control Programming languages Robotics Source code Specifications Task space Trajectory optimization
ISSN:	2331-8422
Online Access:	Get full text
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