Pontryagin-Based Solver with Smoothed Hamiltonian, Adaptive $\Delta t$, and PA-Bundle Refinement

Salim Ksous, Sebastian Lalvay Segovia, Mattias Sandberg +3

We present a Pontryagin-based numerical solver for deterministic optimal control problems in Bolza form. The solver regularizes the generally nonsmooth Hamiltonian using a log-sum-…