Abstract: The promise of model-predictive control (MPC) in robotics has led to extensive development of efficient numerical optimal control solvers in line with differential dynamic programming ...
A C++17 library for solving constrained optimization problems. This project currently implements a Sequential Quadratic Programming (SQP) method for solving nonlinear programs (NLP's). On each ...
Abstract: Combining model predictive control (MPC) with control barrier functions (CBFs) is a promising solution for addressing safety-critical control problems in robot navigation scenarios. The ...
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