Many optimal control problems include a continuous nonlinear dynamic system, state, and control constraints, and final state constraints. When using dynamic programming to solve such a problem, the ...

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms ...

The present work provides a general framework for tree-partitioning problems based on mixed-integer linear programming (MILP). In particular, we present a novel MILP formulation to optimally solve ...