2 papers
math.OC2025
Direct Pseudospectral Optimal Control by Orthogonal Polynomial Integral Collocation
Thomas L. Ahrens, Ian M. Down, Manoranjan Majji
This paper details a methodology to transcribe an optimal control problem into a nonlinear program for generation of the trajectories that optimize a given functional by approximat…
cs.RO2025
A Rapid Trajectory Optimization and Control Framework for Resource-Constrained Applications
Deep Parikh, Thomas L. Ahrens, Manoranjan Majji
This paper presents a computationally efficient model predictive control formulation that uses an integral Chebyshev collocation method to enable rapid operations of autonomous age…