User guide for BocopHJB 1.0.1, a software tool for solving stochastic and deterministic optimal control problems.
This document provides a user guide for BocopHJB 1.0.1, a software tool designed to solve stochastic and deterministic optimal control problems. It covers key features, algorithm details, workflow, and problem file descriptions. The guide includes examples such as the mouse & maze problem to illustrate usage.
The software uses a global optimization method based on solving the Hamilton-Jacobi-Bellman equation, followed by simulation of optimal trajectories. It supports switching modes, parallel execution with OpenMP, and visualization via Python scripts.
It solves deterministic and stochastic optimal control problems using a global optimization method.
The running cost is 10 per unit of time in the maze.
The maximum control value is 1.