On the benefits of surrogate Lagrangians in optimal control and planning algorithms

Gerardo De La Torre, Todd D. Murphey. On the benefits of surrogate Lagrangians in optimal control and planning algorithms. In 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, NV, USA, December 12-14, 2016. pages 7384-7391, IEEE, 2016. [doi]

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