Convex strategies for trajectory optimisation: application to the Polytope Traversal Problem
Steve Tonneau,Steve Tonneau
Non-linear trajectory optimisation methods require good initial guesses to converge to a locally optimal solution. A feasible guess can often be obtained by allocating a large amount of time for the trajectory to be complete. However for unstable dynamical systems such as humanoid robots, this quasi-static assumption does not always hold. We propose a conservative formulation of the trajectory pro...
