Time-Optimal Control via Heaviside Step-Function Approximation
Kai Pfeiffer,Quang-Cuong Pham,Kai Pfeiffer,Quang-Cuong Pham
Least-squares programming is a popular tool in robotics due to its simplicity and availability of open-source solvers. However, certain problems like sparse programming in the $\ell_{0}$- or $\ell_{0}-\mathbf{norm}$ for time-optimal control are not equivalently solvable. In this work, we propose a non-linear hierarchical least-squares programming (NL-HLSP) for time-optimal control of non-linear di...
