olve the deterministic finite-horizon optimal control problem with the iLQG (iterative Linear Quadratic Gaussian) or modified DDP (Differential Dynamic Programming) algorithm. Includes two demos, a linear control-constrained problem and a car-parking problem. For details see Tassa, Mansard and Todorov, Control-Limited Differential Dynamic Programming , ICRA 2014

demo_linear.m
iLQG.m
boxQP.m
demo_car.m
license.txt

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