Optimal Control in the Presence Uncertainty

Relevant Publications 

  1. B. Hammoud, A. Jordana, L. Righetti "iRiSC: Iterative Risk Sensitive Control for Nonlinear Systems with Imperfect Observations." Submitted, Under Review. [link]

  2. B. Hammoud, M. Khadiv, L. Righetti "Impedance Optimization for Uncertain Contact Interactions Through Risk Sensitive Optimal Control." IEEE Robotics and Automation Letters 6.3 (2021): 4766-4773. [link]

  3. C. Mastalli, et al. "Crocoddyl: An efficient and versatile framework for multi-contact optimal control." International Conference on Robotics and Automation ICRA 2020. [link]