Symmetric Stair Preconditioning of Linear Systems for Parallel Trajectory Optimization
Xueyi Bu,Brian Plancher,Xueyi Bu,Brian Plancher
There has been a growing interest in parallel strategies for solving trajectory optimization problems. One key step in many algorithmic approaches to trajectory optimization is the solution of moderately-large and sparse linear systems. Iterative methods are particularly well-suited for parallel solves of such systems. However, fast and stable convergence of iterative methods is reliant on the app...
