franky is a high-level control library for Franka robots, offering Python and C++ support. By providing a high-level control interface, franky eliminates the need for strict real-time programming at 1 ...

Abstract: This letter proposes an algorithm for solving finite-time nonlinear optimal control problems. The proposed method employs the Gauss pseudospectral method to transform the optimal control ...

Abstract: In this article, we investigate the optimal control problem for an unknown linear time-invariant system. To solve this problem, a novel composite policy iteration algorithm based on adaptive ...