no code implementations • 9 Oct 2020 • Mohammad Hasan Yeganegi, Majid Khadiv, Andrea Del Prete, S. Ali A. Moosavian, Ludovic Righetti
In this approach, instead of adding a (conservative) terminal constraint to the problem, we propose to use the measured state projected to the viability kernel in the OCP solved at each control cycle.
Robotics
