A PriorityQueue is a list that always keeps its items sorted based on some rule, like smallest to largest. So, when you take an item out, you always get the one with the highest (or lowest) priority.

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 ...

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 ...

To address the force/position control challenges in transitioning from free-space motion to tasks involving environmental contact, this paper proposes an Adaptive Dynamic Programming (ADP)-based ...

A very short script implementing the plain differential dynamic programming (DDP) I have created to teach myself about the technique.