Skip to content
master
Go to file
Code

Latest commit

 

Git stats

Files

Permalink
Failed to load latest commit information.
Type
Name
Latest commit message
Commit time
 
 
 
 
 
 
src
 
 
 
 
 
 
 
 
 
 
 
 

README.md

Compressed Continuous Computation for Stochastic Optimal Control (C3SC)

Perform stochastic optimal control using the function-train decomposition from the C3 package

Prerequisites

This library is used for these papers

  1. Alex Gorodetsky, Sertac Karaman, Youssef Marzouk: High-Dimensional Stochastic Optimal Control using Continuous Tensor Decompositions. In: International Journal of Robotics Research, Accepted 2018.
  2. Ezra Tal, Alex Gorodetsky, Sertac Karaman: Continuous Tensor Train-Based Dynamic Programming for High-Dimensional Zero-Sum Differential Games. In: American Control Conference (ACC), Milwaukee, WI, Accepted 2018.

Installation Instructions

We will install the prerequisite packages (C3 and CDYN) into a generic directory denoted by <c3sc-prereq>. Replace this flag with what is appropriate for your system. Then we will tell C3SC where to find the directory. We will install C3SC into the directory denoted by <c3sc-installed>.

Install C3

git clone https://github.com/goroda/Compressed-Continuous-Computation.git c3
cd c3
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=<c3sc-prereq> ..
make
make install

Install CDYN

git clone https://github.com/goroda/cdyn.git cdyn
cd cdyn
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=<c3sc-prereq> ..
make
make install

Install C3SC

git clone https://github.com/goroda/c3sc.git c3sc
cd c3sc
mkdir build
cd build
cmake -DC3_INCLUDE_DIR=<c3sc-prereq>/include -DCDYN_INCLUDE_DIR=<c3sc-prereq>/include -DC3_LIB_PATH=<c3sc-prereq>/lib -DCDYN_LIB_PATH=<c3sc-prereq>/lib -DCMAKE_INSTALL_PREFIX=<c3sc-installed> ..
make
make install

Author: Alex A. Gorodetsky
Contact: goroda@umich.edu
Copyright (c) 2015-2016, Massachusetts Institute of Technology
Copyright (c) 2018, University of Michigan
License: BSD

About

Stochastic optimal control using compressed continuous computation

Resources

License

You can’t perform that action at this time.