85 citations · 86 across the 2 of their papers we have counts for
2 papers
math.OC2017★ 1 cited
On the Benefits of Surrogate Lagrangians in Optimal Control and Planning Algorithms
Gerardo De La Torre, Todd Murphey
This paper explores the relationship between numerical integrators and optimal control algorithms. Specifically, the performance of the differential dynamical programming (DDP) alg…
cs.RO2017★ 85 cited
Model-Based Control Using Koopman Operators
Ian Abraham, Gerardo De La Torre, Todd D. Murphey
This paper explores the application of Koopman operator theory to the control of robotic systems. The operator is introduced as a method to generate data-driven models that have ut…