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Optimal Control Theory
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The article was published on 1970-01-01 and is currently open access. It has received 948 citations till now. The article focuses on the topics: Optimal control.read more
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Reinforcement learning in robotics: A survey
TL;DR: This article attempts to strengthen the links between the two research communities by providing a survey of work in reinforcement learning for behavior generation in robots by highlighting both key challenges in robot reinforcement learning as well as notable successes.
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Principles of Robot Motion: Theory, Algorithms, and Implementations
Howie Choset,Jean-Claude Latombe +1 more
TL;DR: In this paper, the mathematical underpinnings of robot motion are discussed and a text that makes the low-level details of implementation to high-level algorithmic concepts is presented.
Journal ArticleDOI
Forward models: supervised learning with a distal teacher
TL;DR: In this paper, the authors demonstrate that certain classical problems associated with the notion of the teacher in supervised learning can be solved by judicious use of learned internal models as components of the adaptive system.
Journal ArticleDOI
Time-Optimal Control of Robotic Manipulators Along Specified Paths:
TL;DR: In this paper, the minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known, and the optimal open-loop torques are found, and a method is given for implementing these torques with a conventional linear feedback control system.
Journal ArticleDOI
Chattering avoidance by second-order sliding mode control
TL;DR: A new solution to the problem of chattering elimination in variable structure control (VSC) is presented, inspired by the classical bang-bang optimal control strategy, and extended to the case of nonlinear systems with uncertainties of more general types.