(\mathcal{N}\)IPM-HLSP: An Efficient Interior-Point Method for Hierarchical Least-Squares Programs

Hierarchical least-squares programs with linear constraints (HLSP) are a type of optimization problem very common in robotics. Each priority level contains an objective in least-squares form which is subject to the linear constraints of the higher priority levels. Active-set methods are a popular ch...

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Vydané v:	arXiv.org
Hlavní autori:	Pfeiffer, Kai, Escande, Adrien, Righetti, Ludovic
Médium:	Paper
Jazyk:	English
Vydavateľské údaje:	Ithaca Cornell University Library, arXiv.org 04.08.2023
Predmet:	Computational efficiency Computing time Iterative methods Least squares Optimization Robotics Solvers
ISSN:	2331-8422
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