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cs.RO2024★ 1 cited
Path Integral Control for Hybrid Dynamical Systems
Hongzhe Yu, Diana Frias Franco, Aaron M. Johnson +1
This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can…
math.OC2024
Optimal Covariance Steering of Linear Stochastic Systems with Hybrid Transitions
Hongzhe Yu, Diana Frias Franco, Aaron M. Johnson +1
This work addresses the problem of optimally steering the state covariance of a linear stochastic system from an initial to a target, subject to hybrid transitions. The nonlinear a…