Trajectory-Based Dynamic Programming

This paper reviews a variety of ways to use trajectory optimization to accelerate dynamic programming. Dynamic programming provides a way to design globally optimal control laws for nonlinear systems. However, the curse of dimensionality, the exponential dependence of space and computation resources needed on the dimensionality of the state and control, limits the application of dynamic programming in practice. We explore trajectory-based dynamic programming, which combines many local optimizations to accelerate the global optimization of dynamic programming