Bring the Heat: Rapid Trajectory Optimization with Pseudospectral Techniques and the Affine Geometric Heat Flow Equation

Challen Enninful Adu, César E. Ramos Chuquiure, Bohao Zhang +1

Generating optimal trajectories for high-dimensional robotic systems in a time-efficient manner while adhering to constraints is a challenging task. This paper introduces PHLAME, w…