English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Matrix Lie groups are an important class of manifolds commonly used incontrol and robotics, and the optimization of control policies on thesemanifolds is a fundamental problem. In this work, we propose a novel approachfor trajectory optimization on matrix Lie groups using an augmentedLagrangian-based constrained discrete Differential Dynamic Programming. Themethod involves lifting the optimization problem to the Lie algebra in thebackward pass and retracting back to the manifold in the forward pass. Incontrast to previous approaches which only addressed constraint handling forspecific classes of matrix Lie groups, the proposed method provides a generalapproach for nonlinear constraint handling for generic matrix Lie groups. Wealso demonstrate the effectiveness of the method in handling externaldisturbances through its application as a Lie-algebraic feedback control policyon SE(3). Experiments show that the approach is able to effectively handleconfiguration, velocity and input constraints and maintain stability in thepresence of external disturbances.

Trajectory Optimization on Matrix Lie Groups with Differential Dynamic Programming and Nonlinear Constraints