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...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 7; no. 3; pp. 6750 - 6757
Main Authors:	Howell, Taylor A., Le Cleac'h, Simon, Singh, Sumeet, Florence, Pete, Manchester, Zachary, Sindhwani, Vikas
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.07.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	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 Access:	Get full text
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