---
# System prepended metadata

title: 'Lecture 03 : Dynamic Programming'
tags: [Underactuated Robotics, Optimal Controls, MIT 6.832]

---

# Lecture 03 : Dynamic Programming 

###### tags: `MIT 6.832` `Underactuated Robotics` `Optimal Controls`

These are my paper notes of Lecture 3 of the course MIT 6.832 (Underactuated Robotics) of 2019

**Youtube Channel :** [6.832 Underactuated Robotics](https://www.youtube.com/channel/UChfUOAhz7ynELF-s_1LPpWg/)
**Textbook :** [website](http://underactuated.csail.mit.edu/)
**Lecture :** [video](https://youtu.be/oaRB_NqOvSU)

# Table of Contents

[TOC]

## Topics covered 
* Formulating control design as an optimization
    * Additive cost
    * Bang-Bang policy
* Optimal control as graph search
    * Value-iteration
    * Grid-world

## Notes

![](https://i.imgur.com/odXJA9P.jpg)
![](https://i.imgur.com/6jg9zEQ.jpg)
![](https://i.imgur.com/3pRYLOJ.jpg)
![](https://i.imgur.com/U1WCTPf.jpg)
