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• W3212855997 abstract "We present an algorithm, based on the Differential Dynamic Programming framework, to handle trajectory optimization problems in which the horizon is determined online rather than fixed a priori. This algorithm exhibits exact one-step convergence for linear, quadratic, time-invariant problems and is fast enough for real-time nonlinear model-predictive control. We show derivations for the nonlinear algorithm in the discrete-time case, and apply this algorithm to a variety of nonlinear problems. Finally, we show the efficacy of the optimal-horizon model-predictive control scheme compared to a standard MPC controller, on an obstacle-avoidance problem with planar robots." @default.
• W3212855997 created "2021-11-22" @default.
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• W3212855997 date "2022-05-23" @default.
• W3212855997 modified "2023-10-18" @default.
• W3212855997 title "Optimal-Horizon Model Predictive Control with Differential Dynamic Programming" @default.
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• W3212855997 doi "https://doi.org/10.1109/icra46639.2022.9812036" @default.
• W3212855997 hasPublicationYear "2022" @default.
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