OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control
Christopher E. Mower,João Moura,Nazanin Zamani Behabadi,Sethu Vijayakumar,Tom Vercauteren,Christos Bergeles,Christopher E. Mower,João Moura,Nazanin Zamani Behabadi,Sethu Vijayakumar,Tom Vercauteren,Christos Bergeles
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 exists to handle such problems, they either provide interfaces that are limited to a specific probl...
