4 citations · 4 across the 3 of their papers we have counts for
5 papers
Dual-Regularized Riccati Recursions for Interior-Point Optimal Control
João Sousa-Pinto, Dominique Orban
We derive closed-form extensions of the sequential and parallel Riccati recursions for solving dual-regularized linear-quadratic regulator (LQR) problems, with sequential ti…
Quasi-Newton and Krylov Methods for the Solution of Nonconvex Trust-Region Subproblems
Johann Bourhis, Oihan Cordelier, Jean-Pierre Dussault +2
We study the solution of symmetric positive-definite linear systems by way of families of full- and limited-memory methods. Our contributions are threefold. We first derive new rel…
Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots
Lorenzo Amatucci, João Sousa-Pinto, Giulio Turrisi +3
This paper introduces a novel Model Predictive Control (MPC) implementation for legged robot locomotion that leverages GPU parallelization. Our approach enables both temporal and s…
An efficient algorithm for solving linear equality-constrained LQR problems
João Sousa-Pinto, Dominique Orban
We consider finite-horizon linear-quadratic regulator (LQR) problems with arbitrary stagewise linear equality constraints. We present a two-part reduction to an unconstrained LQR p…
Primal-Dual iLQR
João Sousa-Pinto, Dominique Orban
We introduce a new algorithm for solving unconstrained discrete-time optimal control problems. Our method follows a direct multiple shooting approach, and consists of applying the…