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...

Full description

Bibliographic Details

Published in:	2023 IEEE International Conference on Robotics and Automation (ICRA) pp. 9118 - 9124
Main Authors:	Mower, Christopher E., Moura, Joao, Behabadi, Nazanin Zamani, Vijayakumar, Sethu, Vercauteren, Tom, Bergeles, Christos
Format:	Conference Proceeding
Language:	English
Published:	IEEE 29.05.2023
Subjects:	Codes Optimal control Planning Software libraries Source coding Task analysis Trajectory optimization
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!