Trajectory-Based Dynamic Programming

@inproceedings{Atkeson2013TrajectoryBasedDP,
  title={Trajectory-Based Dynamic Programming},
  author={Christopher G. Atkeson and Chenggang Liu},
  year={2013}
}
We informally review our approach to using trajectory optimization to accelerate dynamic programming. Dynamic programming provides a way to design globally optimal control laws for nonlinear systems. However, the curse of dimensionality, the exponential dependence of memory and computation resources needed on the dimensionality of the state and control, limits the application of dynamic programming in practice. We explore trajectory-based dynamic programming, which combines many local… CONTINUE READING

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