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math.OC2026
Implicit Primal-Dual Interior-Point Methods for Quadratic Programming
Jon Arrizabalaga, Zachary Manchester
This paper introduces a new method for solving quadratic programs using primal-dual interior-point methods. Instead of handling complementarity as an explicit equation in the Karus…
math.OC2025
The Trajectory Bundle Method: Unifying Sequential-Convex Programming and Sampling-Based Trajectory Optimization
Kevin Tracy, John Z. Zhang, Jon Arrizabalaga +4
We present a unified framework for solving trajectory optimization problems in a derivative-free manner through the use of sequential convex programming. Traditionally, nonconvex o…