
The author presents a novel trajectory optimization method, χ-iLQR, based on the fundamental solution matrix to improve tracking performance, reduce feedback control effort, and enhance robustness to perturbations in legged robots.


coremsg

Convergent-iLQR-for-Safe-Trajectory-Planning-and-Control-of-Legged-Robots


Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots


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Proposing a novel global yaw parameterization method for trajectory optimization to efficiently optimize both yaw and position trajectories.


trajectory-optimization-for-field-of-view-constrained-autonomous-flight


Trajectory Optimization for Field-of-View Constrained Autonomous Flight
