10 citations · 13 across the 4 of their papers we have counts for
5 papers · 1 filter
Second-Order Stein Variational Dynamic Optimization
Yuichiro Aoyama, Peter Lehmamnn, Evangelos A. Theodorou
We present a novel second-order trajectory optimization algorithm based on Stein Variational Newton's Method and Maximum Entropy Differential Dynamic Programming. The proposed algo…
Second-Order Constrained Dynamic Optimization
Yuichiro Aoyama, Oswin So, Augustinos D. Saravanos +1
This paper provides an overview, analysis, and comparison of second-order dynamic optimization algorithms, i.e., constrained Differential Dynamic Programming (DDP) and Sequential Q…
Generalized Maximum Entropy Differential Dynamic Programming
Yuichiro Aoyama, Evangelos A. Theodorou
We present a sampling-based trajectory optimization method derived from the maximum entropy formulation of Differential Dynamic Programming with Tsallis entropy. This method is a g…
Receding Horizon Differential Dynamic Programming Under Parametric Uncertainty
Yuichiro Aoyama, Augustinos D. Saravanos, Evangelos A. Theodorou
Generalized Polynomial Chaos (gPC) theory has been widely used for representing parametric uncertainty in a system, thanks to its ability to propagate uncertainty evolution. In an…
Constrained Differential Dynamic Programming Revisited
Yuichiro Aoyama, George Boutselis, Akash Patel +1
Differential Dynamic Programming (DDP) has become a well established method for unconstrained trajectory optimization. Despite its several applications in robotics and controls how…