Model-Based Reactive Control for Hybrid and High-Dimensional Robotic Systems

Sequential action control (SAC) is a recently developed algorithm for optimal control of nonlinear systems. Previous work by the authors demonstrates that SAC performs well on several benchmark control problems. This work demonstrates applicability of SAC to a variety of robotic systems; we show tha...

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Veröffentlicht in:	IEEE robotics and automation letters 2016-01, Vol.1 (1), p.431-438
Hauptverfasser:	Tzorakoleftherakis, Emmanouil, Ansari, Alex, Wilson, Andrew, Schultz, Jarvis, Murphey, Todd D.
Format:	Artikel
Sprache:	eng
Schlagworte:	Computational modeling Heuristic algorithms Nonlinear dynamical systems Optimization and optimal control Robots simulation and animation Trajectory underactuated robots
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