collaborators

1 paper

cs.RO2023

Improved Exploration for Safety-Embedded Differential Dynamic Programming Using Tolerant Barrier States

Joshua E. Kuperman, Hassan Almubarak, Augustinos D. Saravanos +1

In this paper, we introduce Tolerant Discrete Barrier States (T-DBaS), a novel safety-embedding technique for trajectory optimization with enhanced exploratory capabilities. The pr…