Probabilistic Iterative LQR for Short Time Horizon MPC
Teguh Santoso Lembono,Sylvain Calinon,Teguh Santoso Lembono,Sylvain Calinon
Optimal control is often used in robotics for planning a trajectory to achieve some desired behavior, as expressed by the cost function. Most works in optimal control focus on finding a single optimal trajectory, which is then typically tracked by another controller. In this work, we instead consider trajectory distribution as the solution of an optimal control problem, resulting in better trackin...
