DifferentialDynamicProgramming.jl : A package for solving Differential Dynamic Programming and trajectory optimization problems.
(2016)- Abstract
- Solves the same problem as iLQG, with an added constraint on the KL-divergence between the new trajectory distribution and the distribution induced by a previous controller. This feature can be used in an outer loop with repeated experiments between the iterations if the model used for optimization is uncertain.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/ffe63569-1286-4657-be44-71b02e613b79
- author
- Bagge Carlson, Fredrik LU
- organization
- publishing date
- 2016
- type
- Non-textual form
- publication status
- published
- subject
- publisher
- github
- project
- SARAFun—Smart Assembly Robot with Advanced FUNctionalities
- language
- English
- LU publication?
- yes
- id
- ffe63569-1286-4657-be44-71b02e613b79
- alternative location
- https://github.com/baggepinnen/DifferentialDynamicProgramming.jl
- date added to LUP
- 2017-12-07 13:44:21
- date last changed
- 2018-11-21 21:36:26
@misc{ffe63569-1286-4657-be44-71b02e613b79,
abstract = {{Solves the same problem as iLQG, with an added constraint on the KL-divergence between the new trajectory distribution and the distribution induced by a previous controller. This feature can be used in an outer loop with repeated experiments between the iterations if the model used for optimization is uncertain.}},
author = {{Bagge Carlson, Fredrik}},
language = {{eng}},
publisher = {{github}},
title = {{DifferentialDynamicProgramming.jl : A package for solving Differential Dynamic Programming and trajectory optimization problems.}},
url = {{https://github.com/baggepinnen/DifferentialDynamicProgramming.jl}},
year = {{2016}},
}