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PhD Thesis Defense
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PhD Thesis Defense
Accelerating Numerical Methods for Optimal Control
Abstract: Many modern control methods, such as model-predictive control, rely heavily on solving optimization problems in real time. In particular, the ability to efficiently solve optimal control problems has enabled many of the recent breakthroughs in achieving highly dynamic behaviors for complex robotic systems. The high computational requirements of these algorithms demand novel algorithms tailor-suited [...]
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Robotics Institute,
Carnegie Mellon University
Carnegie Mellon University