Moreover, a modification on the reduced Hessian matrix is proposed using the nature of the Riccati recursion algorithm as the dynamic programming for a QP subproblem to enhance the convergence.
Optimization and Control Robotics Systems and Control Systems and Control
We propose an efficient way of solving optimal control problems for rigid-body systems on the basis of inverse dynamics and the multiple-shooting method.
Optimization and Control Robotics
These methods use random sampling to identify a subspace that captures most of the action of a matrix.
Numerical Analysis Probability
Univalent homotopy type theory (HoTT) may be seen as a language for the category of $\infty$-groupoids.
Category Theory Logic in Computer Science Logic F.3.1, F.4.1 F.3.1; F.4.1
These lecture notes in the De Rham-Hodge theory are designed for a 1-semester undergraduate course (in mathematics, physics, engineering, chemistry or biology).
Differential Geometry Mathematical Physics Mathematical Physics
This paper examines the question of finding feasible points to discrete-time optimal control problems.
Optimization and Control
This paper summarizes the development of mVEM, a MATLAB software package containing efficient and easy-following codes for various virtual element methods (VEMs) published in the literature.
Numerical Analysis Mathematical Software Numerical Analysis
Last-mile routing refers to the final step in a supply chain, delivering packages from a depot station to the homes of customers.
Optimization and Control
We develop the theory of limits and colimits in $\infty$-categories within the synthetic framework of simplicial homotopy type theory developed by Riehl and Shulman.
Category Theory 18N60, 18N45, 18D60, 18C10
We present successive convexification, a real-time-capable solution method for nonconvex trajectory optimization, with continuous-time constraint satisfaction and guaranteed convergence, that only requires first-order information.
Optimization and Control
