This article presents an efficient method for solving the optimal tracking control policy of unmanned surface vehicles (USVs) using a hybrid adaptive dynamic programming (ADP) approach. This approach ...

AI-assisted programming is way more fun and effective than I thought it'd be. Here's how it went for me and why I'm optimistic about it.

This article considers the robust dynamic event-driven tracking control problem of nonlinear systems having mismatched disturbances and asymmetric input constraints. Initially, to tackle the ...

Code supporting the WAFR paper "A Performance Analysis of Differential Dynamic Programming on a GPU," and the ICRA workshop follow on work deploying the algorithm onto robot hardware.