Interior point method

Applications of second-order cone programming

Miguel Sousa Lobo, Lieven Vandenberghe, Stephen Boyd, Hervé Lebret

Citations: 2415 • 1998

qpSWIFT: A Real-Time Sparse Quadratic Program Solver for Robotic Applications

Abhishek Pandala, Yanran Ding, Hae-Won Park

Citations: 85 • 2019

On the implementation of model predictive control for on-line walking pattern generation

Dimitar Dimitrov, Pierre-Brice Wieber, Hans Joachim Ferreau, Moritz Diehl

Citations: 60 • 2008

Real time trajectory optimization for nonlinear robotic systems: Relaxation and convexification

Changliu Liu, Masayoshi Tomizuka

Citations: 38 • 2017

On Geometric Algorithms for Real-Time Grasping Force Optimization

Guanfeng Liu, Jin Xu, Zexiang Li

Citations: 37 • 2004

Primal/Dual Descent Methods for Dynamics

Miles Macklin, Kenny Erleben, Matthias Müller, Nuttapong Chentanez, Stefan Jeschke, T.Y. Kim

Citations: 36 • 2020

Applied Mathematics and Parallel Computing: Festschrift for Klaus Ritter

Herbert Fischer, Bruno Riedmüller, Stefan Schäffler

Citations: 30 • 2012

Optimization-based approach to path planning for closed chain robot systems

Wojciech Szynkiewicz, Jacek Błaszczyk

Citations: 26 • 2011

Trajectory Optimization of Autonomous Agents With Spatio-Temporal Constraints

Xiangyu Meng, Christos G. Cassandras

Citations: 24 • 2020

Quadratically Constrained Quadratic-Programming Based Control of Legged Robots Subject to Nonlinear Friction Cone and Switching Constraints

Farhad Aghili

Citations: 21 • 2017

Stochastic Motion Planning Using Successive Convexification and Probabilistic Occupancy Functions

Abraham P. Vinod, Sean H. Rice, Yuanqi Mao, Meeko Oishi, Behçet Açıkmeşe

Citations: 13 • 2018

A polynomial-time interior-point method for circular cone programming based on kernel functions

Yanqin Bai, Pengfei Ma, Jing Zhang

Citations: 12 • 2015

Contact-Implicit Trajectory Optimization With Learned Deformable Contacts Using Bilevel Optimization

Yifan Zhu, Zherong Pan, Kris Hauser

Citations: 11 • 2021

CALIPSO: A Differentiable Solver for Trajectory Optimization with Conic and Complementarity Constraints

Taylor A. Howell, Kevin Tracy, Simon Le Cleac’h, Zachary Manchester

Citations: 11 • 2023

Computation of the distance to semi-algebraic sets

Christophe Ferrier

Citations: 10 • 2000

ZMP-Based Trajectory Generation for Bipedal Robots Using Quadratic Programming

Сергей Савин

Citations: 8 • 2019

Enhancing Bilevel Optimization for UAV Time-Optimal Trajectory using a Duality Gap Approach

Gao Tang, Weidong Sun, Kris Hauser

Citations: 8 • 2020

Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent

Paarth Shah, Avadesh Meduri, Wolfgang Merkt, Majid Khadiv, Ioannis Havoutis, Ludovic Righetti

Citations: 8 • 2021

Multi Vehicle Avoidance Using Nonlinear Branch and Bound Optimisation

Alison Eele, Arthur Richards

Citations: 5 • 2009

Prediction-Correction Interior-Point Method for Time-Varying Convex Optimization

Mahyar Fazlyab, Santiago Paternain, Víctor M. Preciado, Alejandro Ribeiro

Citations: 4 • 2017