Trajectory Optimization with Optimization-Based Dynamics

We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of this lower-level problem are passed to an upper-level trajectory optimizer. This optimization-based dynamics represe...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Veröffentlicht in:	IEEE robotics and automation letters Jg. 7; H. 3; S. 6750 - 6757
Hauptverfasser:	Howell, Taylor A., Le Cleac'h, Simon, Singh, Sumeet, Florence, Pete, Manchester, Zachary, Sindhwani, Vikas
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway IEEE 01.07.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Aerodynamics Complex systems Constraints Coulomb friction Dynamics Friction Heuristic algorithms Iterative methods Locomotion motion and path planning Optimization optimization and optimal control Planning Representations Task analysis Trajectory optimization
ISSN:	2377-3766, 2377-3766
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Schreiben Sie den ersten Kommentar!