(\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...

Full description

Bibliographic Details

Published in:	arXiv.org
Main Authors:	Pfeiffer, Kai, Escande, Adrien, Righetti, Ludovic
Format:	Paper
Language:	English
Published:	Ithaca Cornell University Library, arXiv.org 04.08.2023
Subjects:	Computational efficiency Computing time Iterative methods Least squares Optimization Robotics Solvers
ISSN:	2331-8422
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!