Differential Dynamic Programming With Nonlinear Safety Constraints Under System Uncertainties - Alcan, Gokhan; Kyrki, Ville (IEEE robotics and automation letters, 2022)
Keywords: Algorithms; constrained motion planning; Constraints; Dynamic programming; Electron tubes; Linear control; motion and path planning; Optimization and optimal control; planning under uncertainty; Robot dynamics; robot safety; Robots; Safety; Stochastic processes; Task analysis; Tightening; Trajectory control; Trajectory optimization; Trajectory planning; Uncertainty