Commit 59f89996 by Sylvain CALINON

New demo_batchLQR_viapoints* examples

parent 0232c4c7
......@@ -69,7 +69,7 @@ Did you find PbDLib useful for your research? Please acknowledge the authors in
year="2017",
month="September",
address="Vancouver, Canada",
pages=""
pages="59--64"
}
```
......@@ -114,14 +114,31 @@ Did you find PbDLib useful for your research? Please acknowledge the authors in
@inproceedings{Rozo17IROS,
author="Rozo, L. and Jaquier, N. and Calinon, S. and Caldwell, D. G.",
title="Learning Manipulability Ellipsoids for Task Compatibility in Robot Manipulation",
booktitle=IROS,
booktitle="Proc. {IEEE/RSJ} Intl Conf. on Intelligent Robots and Systems ({IROS})",
year="2017",
month="September",
address="Vancouver, Canada",
pages=""
pages="3183--3189"
}
```
#### Ref. [8]
**Keypoint-based motion through MPC**<br>
[Link to publication](http://calinon.ch/papers/Berio-GI2017.pdf)
```
@inproceedings{Berio17GI,
author="Berio, D. and Calinon, S. and Fol Leymarie, F.",
title="Generating Calligraphic Trajectories with Model Predictive Control",
booktitle="Proc. 43rd Conf. on Graphics Interface",
year="2017",
month="May",
address="Edmonton, AL, Canada",
pages="132--139",
doi="10.20380/GI2017.17"
}
```
### List of examples
All the examples are located in the main folder, and the functions are located in the `m_fcts` folder.
......@@ -141,6 +158,8 @@ All the examples are located in the main folder, and the functions are located i
| [demo_batchLQR02](./demos/demo_batchLQR02.m) | [[1]](#ref-1) | Same as demo_batchLQR01 but with only position data |
| [demo_batchLQR_augmSigma01](./demos/demo_batchLQR_augmSigma01.m) | [[1]](#ref-1) | Batch LQR with augmented covariance to transform a tracking problem to a regulation problem |
| [demo_batchLQR_online01](./demos/demo_batchLQR_online01.m) | [[1]](#ref-1) | Batch solution of linear quadratic optimal control (unconstrained linear MPC) computed in an online manner, by relying on a GMM encoding of position and velocity data |
| [demo_batchLQR_viapoints01](./demos/demo_batchLQR_viapoints01.m) | [[8]](#ref-8) | Keypoint-based motion through MPC, with a GMM encoding of position and velocity |
| [demo_batchLQR_viapoints02](./demos/demo_batchLQR_viapoints02.m) | [[8]](#ref-8) | Same as demo_batchLQR_viapoints01 with only position encoding |
| [demo_DMP01](./demos/demo_DMP01.m) | [[1]](#ref-1) | Dynamic movement primitive (DMP) encoding with radial basis functions |
| [demo_DMP02](./demos/demo_DMP02.m) | [[1]](#ref-1) | Generalization of dynamic movement primitive (DMP) with polynomial fitting using radial basis functions |
| [demo_DMP_GMR01](./demos/demo_DMP_GMR01.m) | [[1]](#ref-1) | Emulation of a standard dynamic movement primitive (DMP) by using a GMM with diagonal covariance matrix, and retrieval computed through Gaussian mixture regression (GMR) |
......
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