DMOC–Based Robot Trajectory Optimization with Analytical First–Order Information
Discrete mechanics and optimal control (DMOC) is a numerical optimal control framework capable of solving robot trajectory optimization problems. This framework has advantages over other direct collocation and multiple-shooting schemes. In particular, it works with a reduced number of decision varia...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Sciendo
2025-03-01
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| Series: | International Journal of Applied Mathematics and Computer Science |
| Subjects: | |
| Online Access: | https://doi.org/10.61822/amcs-2025-0007 |
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