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Constrained Path Integral Optimal Control

Path integral methods have been an important tool for systems with stochastic continuous dynamics. Recent work mainly focuses on unconstrained control problems while I investigated how to deal with systems constrained by state-input inequality. Details are explained in Final Report under doc directory and the path integral algorithms are implemented in MATLAB, which can be found under src.

Usage

  • To test 1-DoF simulation, run runDoubleSlitExample.m in the folder Double Slit Example 1D

  • To test 2-DoF simulation, run runSimulation.m in the folder Double Slit Example 2D

  • The parameters are stored in the file paramDoubleSlit.mat

Maintainer

This repository is out of maintenance.

Acknowledgement

Thank Jan Carius and Dr. Farbod Farshidian for supervising me on the path integral algorithm.