Regularized hierarchical differential dynamic programming. Geisert, M., Del Prete, A., Mansard, N., Romano, F., & Nori, F. IEEE Transactions on Robotics, 33(4):819–833, IEEE, 2017.
bibtex   
@article{geisert2017regularized,
  title={Regularized hierarchical differential dynamic programming},
  author={Geisert, Mathieu and Del Prete, Andrea and Mansard, Nicolas and Romano, Francesco and Nori, Francesco},
  journal={IEEE Transactions on Robotics},
  volume={33},
  number={4},
  pages={819--833},
  year={2017},
  publisher={IEEE}
}

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