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cs.RO2023
Risk-Aware Wasserstein Distributionally Robust Control of Vessels in Natural Waterways
Juan Moreno Nadales, Astghik Hakobyan, David Muñoz de la Peña +2
In the realm of maritime transportation, autonomous vessel navigation in natural inland waterways faces persistent challenges due to unpredictable natural factors. Existing schedul…
eess.SY2023
Distributionally Robust Differential Dynamic Programming with Wasserstein Distance
Astghik Hakobyan, Insoon Yang
Differential dynamic programming (DDP) is a popular technique for solving nonlinear optimal control problems with locally quadratic approximations. However, existing DDP methods ar…