Differential dynamic programming for optimal estimation
作者： Marin Kobilarov , Duy-Nguyen Ta , Frank Dellaert
DOI: 10.1109/ICRA.2015.7139279
关键词: Differential dynamic programming 、 Computer science 、 Optimal estimation 、 Mathematical optimization 、 Model predictive control 、 Optimal control 、 Trajectory 、 Trajectory optimization 、 Dynamic programming 、 Control engineering
摘要: This paper studies an optimization-based approach for solving optimal estimation and control problems through a unified computational formulation. The goal is to perform trajectory over extended past horizons model-predictive future by enforcing the same dynamics, control, sensing constraints in both problems, thus with identical tools. Through such systematic estimation-control formulation we aim improve performance of autonomous systems as agile robotic vehicles. work focuses on sequential sweep optimization methods, more specifically extends method known differential dynamic programming parameter-dependent setting order enable solutions general problems.
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