The optimal control input policy for the deterministic version (no stochastic disturbances) is first provided and shown to be the sum of linear state feedback and path-dependent components, as for the ...

Reactive kinematic control in velocity space is closely related to the Jacobian presented in the system. However, if the Jacobian is rank-deficient, certain task-space velocities become unachievable, ...

Add this topic to your repo To associate your repository with the sequential-quadratic-programming topic, visit your repo's landing page and select "manage topics." Learn more ...