RDDP augments classical dual dynamic programming with OPP-specific backward reachable sets to deliver global optimality certificates and faster computation for both convex and non-convex optimal path parameterization.
Reachability and minimal times for state constrained nonlinear problems without any controllability assumption,
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Reachability-Augmented Dual Dynamic Programming for Optimal Path Parameterization
RDDP augments classical dual dynamic programming with OPP-specific backward reachable sets to deliver global optimality certificates and faster computation for both convex and non-convex optimal path parameterization.