My pro­blem is still to find a sui­ta­ble method for imple­men­ting coope­ra­tive con­trol stra­te­gies pos­si­bly wit­hout using refe­rence tra­jec­to­ries. One paper I found on that is A Mini­mal Inter­ven­tion Prin­ciple for Coor­di­na­ted Move­ment by Ema­nual Todo­rov and Michael I. Jordan.

The Home­page of Mr. Ema­nuel Todo­rov is quiet inte­res­ting, he publis­hes there all his arti­cles. I will spend some time on stu­dy­ing that since his approach (opti­mal sto­chas­ti­cal con­trol) seems pro­mi­sing for me.

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