Robust Trajectory Optimization: A Cooperative Stochastic Game Theoretic Approach

Kaivalya Bakshi
Kaivalya Bakshi

Robotics: Science and Systems, 2015.

Cited by: 9|Views9


We present a novel trajectory optimization framework to address the issue of robustness, scalability and efficiency in optimal control and reinforcement learning. Based on prior work in Cooperative Stochastic Differential Game (CSDG) theory, our method performs local trajectory optimization using cooperative controllers. The resulting fra...More



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