Multiple-Shooting Differential Dynamic Programming

This repo holds the accompanying code for the paper A Unified Perspective on Multiple Shooting in Differential Dynamic Programming. This public code is written in MATLAB, and is intended to guide the readers to quickly understand the underlying logic.

Demo

Single-Shooting DDP

Multiple-Shooting DDP

Dependencies

• spatial_v2_extended
• Casadi
• Robotics System Toolbox(optional for the Kuka )

To Start

Modify the startup.m script to add PATH_TO_CASADI and PATH_TO_SPATIAL_V2 to MATLAB search path. Navigate to the root directory (Multiple-Shooting-DDP in this case), and run startup.m

startup

Examples

Always keep the root directory as the current folder

Acrobot Swingup

Acrobot_Swingup

Double Pendulum

DP_Swingup

Manipulator Swing

IIWA_Swing

Quadrotor

Quadrotor_fly

To Cite

@article{li2023unified,
  title={A Unified Perspective on Multiple Shooting In Differential Dynamic Programming},
  author={Li, He and Yu, Wenhao and Zhang, Tingnan and Wensing, Patrick M},
  journal={arXiv preprint arXiv:2309.07872},
  year={2023}
}