Improved Exploration for Safety-Embedded Differential Dynamic Programming Using Tolerant Barrier States

Joshua E. Kuperman, Hassan Almubarak, Augustinos D. Saravanos, Evangelos A. Theodorou. Improved Exploration for Safety-Embedded Differential Dynamic Programming Using Tolerant Barrier States. In 21st International Conference on Advanced Robotics, ICAR 2023, Abu Dhabi, United Arab Emirates, December 5-8, 2023. pages 183-190, IEEE, 2023. [doi]

Abstract

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