Before revision:  In this paper, we propose  a safe trajectory optimization and control approach (Safe-CDDP) for systems under additive uncertainties and non-linear safety constraints based on constrained differential dynamic programming (DDP).
After revision:  In this paper, we propose Safe-CDDP, a safe trajectory optimization and control approach (Safe-CDDP) for systems under additive uncertainties and non-linear safety constraints based on constrained differential dynamic programming (DDP).