Exploiting sparsity in robot trajectory optimization with direct collocation and geometric algorithms
Daniel Cardona-Ortiz,Alvaro Paz,Gustavo Arechavaleta,Daniel Cardona-Ortiz,Alvaro Paz,Gustavo Arechavaleta
This paper presents a robot trajectory optimization formulation that builds upon numerical optimal control and Lie group methods. In particular, the inherent sparsity of direct collocation is carefully analyzed to dramatically reduce the number of floating-point operations to get first-order information of the problem. We describe how sparsity exploitation is employed with both numerical and analy...
