FilterDDP is a line-search filter differential dynamic programming algorithm for discrete-time optimal control problems with nonlinear equality constraints, featuring two specific design choices for robustness, a local quadratic convergence proof, a primal-dual interior-point extension for mixed-con
Motion planning around obstacles with convex optimization,
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Line-Search Filter Differential Dynamic Programming for Optimal Control with Nonlinear Equality Constraints
FilterDDP is a line-search filter differential dynamic programming algorithm for discrete-time optimal control problems with nonlinear equality constraints, featuring two specific design choices for robustness, a local quadratic convergence proof, a primal-dual interior-point extension for mixed-con