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It is often unnoticed that the predominant way to use collocation methods is fundamentally flawed when applied to optimal control in robotics. Such methods assume that the system dynamics is given by a first order ODE, whereas robots are often govern
Externí odkaz:
http://arxiv.org/abs/2302.09056
Publikováno v:
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 13335-13340
Pseudospectral collocation methods have proven to be powerful tools to solve optimal control problems. While these methods generally assume the dynamics is given in the first order form $\dot{x} = f (x, u, t)$, where x is the state and u is the contr
Externí odkaz:
http://arxiv.org/abs/2302.09036
Akademický článek
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Publikováno v:
Robotics: Science and Systems XVIII.
Trabajo presentado en el Robotics: Science and Systems, celebrado en Nueva York (Estados Unidos), del 27 de junio al 1 de julio de 2022
Collocation methods for numerical optimal control commonly assume that the system dynamics is expressed as a
Collocation methods for numerical optimal control commonly assume that the system dynamics is expressed as a
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5b1a724a867142b59d3dab78b8df28f0
https://doi.org/10.15607/rss.2022.xviii.038
https://doi.org/10.15607/rss.2022.xviii.038
Publikováno v:
UPCommons. Portal del coneixement obert de la UPC
Universitat Politècnica de Catalunya (UPC)
Universitat Politècnica de Catalunya (UPC)
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::b8d6e812458dda13efe5a6c7b0840589
http://hdl.handle.net/2117/353547
http://hdl.handle.net/2117/353547