Differential dynamic programming for optimal estimation

  title={Differential dynamic programming for optimal estimation},
  author={Marin Kobilarov and Duy-Nguyen Ta and Frank Dellaert},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
This paper studies an optimization-based approach for solving optimal estimation and optimal control problems through a unified computational formulation. The goal is to perform trajectory estimation over extended past horizons and model-predictive control over future horizons by enforcing the same dynamics, control, and sensing constraints in both problems, and thus solving both problems with identical computational tools. Through such systematic estimation-control formulation we aim to… CONTINUE READING
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