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Successive Convexification with Continuous-Time Constraint Satisfaction

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CT - SC VX

Successive Convexification for Trajectory Optimization with
Continuous-Time Constraint Satisfaction

Nonconvex problems

  • Obstacle avoidance
  • 6-DoF rocket landing

Convex problems

  • 3-DoF rocket landing with lossless convexification
  • Grasp optimization

Citation

arXiv:2404.16826

@misc{ct-scvx,
  doi = {10.48550/ARXIV.2404.16826},
  url = {https://arxiv.org/abs/2404.16826},
  author = {Elango, Purnanand and Luo, Dayou and Kamath, Abhinav G. and Uzun, Samet and Kim, Taewan and Açıkmeşe, Behçet},
  title = {Successive Convexification for Trajectory Optimization with Continuous-Time Constraint Satisfaction},
  publisher = {arXiv},
  year = {2024}
}