From b0ee9b6c04ef4fce1615a58e1928800f9b7f23af Mon Sep 17 00:00:00 2001
From: Sylvain CALINON <sylvain.calinon@idiap.ch>
Date: Wed, 10 Aug 2022 23:39:31 +0200
Subject: [PATCH] iLQR_distMaintenance.m added

---
 README.md | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 3fcc5c3..5a73aa6 100644
--- a/README.md
+++ b/README.md
@@ -22,7 +22,8 @@ RCFS is a collection of source codes to study robotics through simple 2D example
 | LQT_recursive_LS_multiAgents | LQT applied to a multi-agent system with recursive formulation based on least squares and augmented state, by using a precision matrix with nonzero offdiagonal elements to find a controller in which the two agents coordinate their movements to find an optimal meeting point | ✅ | ✅ |  |  |
 | LQT_CP | LQT with control primitives applied to a viapoint task (batch formulation) | ✅ | ✅ |  |  |
 | LQT_CP_DMP | LQT with control primitives applied to trajectory tracking with a formulation similar to dynamical movement primitives (DMP), by using the least squares formulation of recursive LQR on an augmented state space | ✅ | ✅ |  |  |
-| iLQR_obstacle | Iterative linear quadratic regulator (iLQR) applied to a viapoint task with obstacles avoidance (batch formulation) | ✅ | ✅ |  |  |
+| iLQR_distMaintenance | Iterative linear quadratic regulator (iLQR) applied to a 2D point-mass system with the objective of constantly maintaining a desired distance to an object | ✅ |  |  |  |
+| iLQR_obstacle | iLQR applied to a viapoint task with obstacles avoidance (batch formulation) | ✅ | ✅ |  |  |
 | iLQR_obstacle_GPIS | iLQR with obstacles represented as Gaussian process implicit surfaces (GPIS) | ✅ |  | ✅ |  |
 | iLQR_manipulator | iLQR applied to a planar manipulator for a viapoints task (batch formulation) | ✅ | ✅ | ✅ |  |
 | iLQR_manipulator_recursive | iLQR applied to a planar manipulator for a viapoints task (recursive formulation to find a controller) | ✅ | ✅ |  |  |
-- 
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