Equality Constrained Differential Dynamic Programming
Sarah El Kazdadi,Justin Carpentier,Jean Ponce,Sarah El Kazdadi,Justin Carpentier,Jean Ponce
Trajectory optimization is an important tool in task-based robot motion planning, due to its generality and convergence guarantees under some mild conditions. It is often used as a post-processing operation to smooth out trajectories that are generated by probabilistic methods or to directly control the robot motion. Unconstrained trajectory optimization problems have been well studied, and are co...
