Intelligent Robotics

Aalto University, Espoo, Finland

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Category: Safe MPC

Master Thesis on “Safe Constrained Differential Dynamic Programming”

11/11/2021

In this thesis, an extensive investigation of constrained DDP methods will be performed and the major selected ones will be implemented in simulation environment for trajectory optimizations of different robots such as a simple point robot, 2D car-like robot, 3D quadrotor robot and cart-pole system. In this context, the methods will be compared in terms of convergence speed, computational complexity, sensitivity to initializations and parameter selections.

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  • Decision-Making in Autonomous Driving with Data- and Model-Based Methods Combination Ensuring Road Safety Aspects
  • Deep Multi-Agent Reinforcement Learning for Decision Making in Autonomous Driving Systems
  • Deformable Object Manipulation
  • Exploiting Object Physical Properties for Grasping
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  • Learning geometry-based robot-manipulation skills
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