Trajectory optimization for 2 degrees of freedom arm
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Updated
Apr 20, 2022 - MATLAB
Trajectory optimization for 2 degrees of freedom arm
This repo contains all the praticals/homeworks assigned during the Reinforcement Learning course held by Prof. Roberto Capobianco at the AI & Robotics Master's Degree at University of Sapienza @ Rome, Italy.
Project for Dynamical System Theory exam - Publication for IROS 2022 Conference
Trajectory optimization (indirect with iLQR, direct with SQP), model predictive control, and additional tools for quantum optimal control.
ILQR (Iterative Linear Quadratic Regulator)
ILQR controller acting on a two link arm model of the human arm to demonstrate reaching between points in a 2d plane
First homework for the RL class
Repository of Reinforcement Learning projects done during the course @sapienza
LQR and iLQR controllers for a 2D quadrotor.
Non-linear trajectory optimization via iLQR/DDP.
An optional control algorithm, iterative Linear Quadratic Regulator, implementation using Julia.
MPC, iLQR, Stanley, Pure Pursuit Controllers in AWSIM using ROS2
SIA - C++/Python library for model-based stochastic estimation and optimal control
Optimal control solver implemented in Python. SymPy for symbolic differentiation and Numba for fast computation.
Gradient-based trajectory optimisation toolbox that speeds up trajectory optimisation by only computing dynamics derivatives at key-points with finite-differencing. Remainder of derivatives are approximated via interpolation.
iLQR for a 3D quadrotor model
Thesis: Application of Reinforcement Learning for the Control of Nonlinear Dynamical Systems
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