16 citations · 89 across the 50 of their papers we have counts for
4 papers · 2 filters
Box-iLQR: Constraint-Aware Feedback via Finite-Barrier Trajectory Optimization
Abhijeet, Suman Chakravorty
Iterative Linear Quadratic Regulator (iLQR) and Differential Dynamic Programming (DDP) are attractive trajectory-optimization methods because their backward recursions provide both…
An Efficient iLQR Algorithm for Optimal Control with Bounded States and Inputs: Application to Spacecraft Maneuvers
Abhijeet, Suman Chakravorty
This paper presents a constrained iterative Linear Quadratic Regulator (Box-iLQR) method for nonlinear aerospace optimal-control problems with bounded states and controls. Logarith…
A Sequential Quadratic Programming Perspective on Optimal Control
Abhijeet, Suman Chakravorty
This paper investigates the performance of Newton's method, iterative Linear Quadratic Regulator (iLQR), and Differential Dynamic Programming (DDP) in solving discrete-time optimal…
Safe Optimal Control using Log Barrier Constrained iLQR
Abhijeet, Suman Chakravorty
This paper presents a constrained iterative Linear Quadratic Regulator (iLQR) framework for nonlinear optimal control problems with box constraints on both states and control input…