A trajectory optimization algorithm that doesn't require dynamics derivatives
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README.md
UDP.m
cartpole_dynamics.m
demo_airplane.m
demo_cartpole.m
demo_pendulum.m
iLQG License.txt
iLQG.m
pendulum_dynamics.m
yak_dynamics.m
yak_dynamics_mex.mexmaci64
yak_parameters.m

README.md

unscented-dynamic-programming

A trajectory optimization algorithm that doesn't require dynamics derivatives.

This is an example MATLAB implementation of the algorithm in the following paper:

Zachary Manchester and Scott Kuindersma, "Derivative-Free Trajectory Optimization with Unscented Dynamic Programming," 55th IEEE Conference on Decision and Control (CDC), December, 2016.

To get started, try running the demo scripts.