An Efficient Understandability Objective for Dynamic Optimal Control
D. Livingston McPherson,S. Shankar Sastry,D. Livingston McPherson,S. Shankar Sastry
Motion optimization for legible robot intent has largely ignored the robot’s dynamics, citing burdensome complexity that prevents online deployment. Even where the original task (to be communicated) could be solved on the dynamical system, the legibility problem (to communicate that task’s intent) could not. This work simplifies the legibility objective to have equivalent computational complexity ...
