Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: HM-DDP: A Hybrid Multiple-shooting Differential Dynamic Programming
  Method for Constrained Trajectory Optimization   Trajectory optimization has been used extensively in robotic systems. In
particular, Differential Dynamic Programming (DDP) has performed well as an
off-line planner or an online nonlinear model predictive control solver, with a
lower computational cost compared with other general-purpose nonlinear
programming solvers. However, standard DDP cannot handle any constraints or
perform reasonable initialization of a state trajectory. In this paper, we
propose a hybrid constrained DDP variant with a multiple-shooting framework.
The main technical contributions are twofold: 1) In addition to inheriting the
simplicity of the initialization in multiple shooting, a two-stage framework is
developed to deal with state and control inequality constraints robustly
without loss of the linear feedback term of DDP. Such a hybrid strategy offers
a fast convergence of constraint satisfaction. 2) An improved globalization
strategy is proposed to exploit the coupled effects between line-searching and
regularization, which is able to enhance the numerical robustness of DDP-like
approaches. Our approach is tested on three constrained trajectory optimization
problems with nonlinear inequality constraints and outperforms the
commonly-used collocation and shooting methods in terms of runtime and
constraint satisfaction.

10
The categories of this paper are: q-bio
0
The categories of this paper are: hep-ph
23
The categories of this paper are: solv-int
20
The categories of this paper are: acc-phys
15
The categories of this paper are: nucl-ex
25
The categories of this paper are: patt-sol
26
The categories of this paper are: bayes-an
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The categories of this paper are: funct-an
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The categories of this paper are: eess
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The categories of this paper are: nucl-th
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The categories of this paper are: math
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The categories of this paper are: hep-lat
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The categories of this paper are: q-fin
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The categories of this paper are: adap-org
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The categories of this paper are: hep-ex
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The categories of this paper are: dg-ga