Title:
Differential Dynamic Programming for Optimal Estimation
Differential Dynamic Programming for Optimal Estimation
| dc.contributor.author | Kobilarov, Marin | |
| dc.contributor.author | Ta, Duy-Nguyen | |
| dc.contributor.author | Dellaert, Frank | |
| dc.contributor.corporatename | Georgia Institute of Technology. Institute for Robotics and Intelligent Machines | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. College of Computing | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Interactive Computing | en_US |
| dc.contributor.corporatename | Johns Hopkins University | en_US |
| dc.date.accessioned | 2015-08-05T17:37:46Z | |
| dc.date.available | 2015-08-05T17:37:46Z | |
| dc.date.issued | 2015-05 | |
| dc.description | © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | DOI: 10.1109/ICRA.2015.7139279 | |
| dc.description.abstract | This paper studies an optimization-based approach for solving optimal estimation and optimal control problems through a unified computational formulation. The goal is to perform trajectory estimation over extended past horizons and model-predictive control over future horizons by enforcing the same dynamics, control, and sensing constraints in both problems, and thus solving both problems with identical computational tools. Through such systematic estimation-control formulation we aim to improve the performance of autonomous systems such as agile robotic vehicles. This work focuses on sequential sweep trajectory optimization methods, and more specifically extends the method known as differential dynamic programming to the parameter-dependent setting in order to enable the solutions to general estimation and control problems. | en_US |
| dc.embargo.terms | null | en_US |
| dc.identifier.citation | Kobilarov, M.; Ta, D.-N.; & Dellaert, F. (2015). "Differential Dynamic Programming for Optimal Estimation". Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2015), 26-30 May 2015, pp. 863-869. | en_US |
| dc.identifier.doi | 10.1109/ICRA.2015.7139279 | |
| dc.identifier.uri | http://hdl.handle.net/1853/53709 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Agile robotic vehicle | en_US |
| dc.subject | Autonomous system | en_US |
| dc.subject | Model-predictive control | en_US |
| dc.subject | Optimal control problem | en_US |
| dc.subject | Trajectory estimation | en_US |
| dc.subject | Trajectory optimization | en_US |
| dc.title | Differential Dynamic Programming for Optimal Estimation | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Dellaert, Frank | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| local.contributor.corporatename | College of Computing | |
| relation.isAuthorOfPublication | dac80074-d9d8-4358-b6eb-397d95bdc868 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf | |
| relation.isOrgUnitOfPublication | c8892b3c-8db6-4b7b-a33a-1b67f7db2021 |