UW-ACL / ct-scvx

Successive Convexification for Trajectory Optimization with Continuous-Time Constraint Satisfaction

$\text{\small{CT}}\text{\large{-}}\text{\large{SC}}\text{\small{VX}}$

Successive Convexification for Trajectory Optimization with
Continuous-Time Constraint Satisfaction

Nonconvex problems

• Obstacle avoidance
• 6-DoF rocket landing

Convex problems

• 3-DoF rocket landing with lossless convexification
• Grasp optimization

Citation

@misc{ct-scvx,
  doi = {10.48550/ARXIV.2404.16826},
  url = {https://arxiv.org/abs/2404.16826},
  author = {Elango, Purnanand and Luo, Dayou and Kamath, Abhinav G. and Uzun, Samet and Kim, Taewan and Açıkmeşe, Behçet},
  title = {Successive Convexification for Trajectory Optimization with Continuous-Time Constraint Satisfaction},
  publisher = {arXiv},
  year = {2024}
}