Projection Operator Strategies in the Optimization of Trajectory Functions
Abstract
Throughout this work, we have developed important insights into the nature of trajectory functionals and their minimization. Second order properties of the trajectory functionals have helped us to discover cases where one would expect a functional to have a nice minimizer but in fact one does not exist. Barrier functionals have been used to effectively manage input, state, and mixed constraints. Working with such a variety of systems and objectives, we have developed a sort-of experts toolkit that makes such investigations (somewhat) more tractable. We have found that, in order to do effective trajectory exploration and optimization, one must indeed become an expert on the system under investigation!
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 14, 2012
- Accession Number
- ADA577236
Entities
People
- John Hauser
Organizations
- University of Colorado Boulder