Sparsity-Inducing Optimal Control via Differential Dynamic Programming
This repository contains scripts and notebooks to reproduce the results presented in:
Traiko Dinev∗, Wolfgang Merkt∗, Vladimir Ivan, Ioannis Havoutis, Sethu Vijayakumar. Sparsity-Inducing Optimal Control via Differential Dynamic Programming. Proc. IEEE International Conference on Robotics and Automation (ICRA 2021), Xian, China, 2021.
Installation
This repository depends on the following ROS packages whose dependencies can be installed from binaries:
Examples
roslaunch exotica_satellite_dynamics_solver example.launch- will run trajectory optimisation for the example in Fig. 6.