Journal article
Memory clustering using persistent homology for multimodality- and discontinuity-sensitive learning of optimal control warm-starts
- Abstract:
-
Shooting methods are an efficient approach to solving nonlinear optimal control problems. As they use local optimization, they exhibit favorable convergence when initialized with a good warm-start but may not converge at all if provided with a poor initial guess. Recent work has focused on providing an initial guess from a learned model trained on samples generated during an offline exploration of the problem space. However, in practice, the solutions contain discontinuities introduced by sys...
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- Publication status:
- Published
- Peer review status:
- Peer reviewed
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Authors
Bibliographic Details
- Publisher:
- Institute of Electrical and Electronics Engineers Publisher's website
- Journal:
- IEEE Transactions on Robotics Journal website
- Volume:
- 37
- Issue:
- 5
- Pages:
- 1649-1660
- Publication date:
- 2021-04-30
- Acceptance date:
- 2021-03-01
- DOI:
- EISSN:
-
1941-0468
- ISSN:
-
1552-3098
Item Description
- Language:
- English
- Keywords:
- Pubs id:
-
1176604
- Local pid:
- pubs:1176604
- Deposit date:
- 2023-01-23
Terms of use
- Copyright holder:
- IEEE
- Copyright date:
- 2021
- Rights statement:
- Copyright 2021 IEEE
- Notes:
-
This is the accepted manuscript version of the article. The final version is available from IEEE at https://doi.org/10.1109/TRO.2021.3069132
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