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math.OC2021
Optimizing Trajectories with Closed-Loop Dynamic SQP
Sumeet Singh, Jean-Jacques Slotine, Vikas Sindhwani
Indirect trajectory optimization methods such as Differential Dynamic Programming (DDP) have found considerable success when only planning under dynamic feasibility constraints. Me…
cs.RO2021
Trajectory Optimization with Optimization-Based Dynamics
Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh +3
We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of t…