36 citations · 65 across the 17 of their papers we have counts for
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cs.RO2021
Optimal-Horizon Model-Predictive Control with Differential Dynamic Programming
Kyle Stachowicz, Evangelos A. Theodorou
We present an algorithm, based on the Differential Dynamic Programming framework, to handle trajectory optimization problems in which the horizon is determined online rather than f…
cs.RO2021★ 36 cited
Safety Embedded Differential Dynamic Programming Using Discrete Barrier States
Hassan Almubarak, Kyle Stachowicz, Nader Sadegh +1
Certified safe control is a growing challenge in robotics, especially when performance and safety objectives must be concurrently achieved. In this work, we extend the barrier stat…