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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Vydané v:	2023 IEEE International Conference on Robotics and Automation (ICRA) s. 9118 - 9124
Hlavní autori:	Mower, Christopher E., Moura, Joao, Behabadi, Nazanin Zamani, Vijayakumar, Sethu, Vercauteren, Tom, Bergeles, Christos
Médium:	Konferenčný príspevok..
Jazyk:	English
Vydavateľské údaje:	IEEE 29.05.2023
Predmet:	Codes Optimal control Planning Software libraries Source coding Task analysis Trajectory optimization
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