Continuous-time successive convexification for constrained trajectory optimization
We present continuous-time successive convexification (ct- scvx ), a real-time-capable solution method for constrained trajectory optimization, with continuous-time constraint satisfaction and guaranteed convergence. The proposed solution framework only relies on first-order information, and it comb...
Uloženo v:
| Vydáno v: | Automatica (Oxford) Ročník 180; s. 112464 |
|---|---|
| Hlavní autoři: | , , , , , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
| Vydáno: |
Elsevier Ltd
01.10.2025
|
| Témata: | |
| ISSN: | 0005-1098 |
| On-line přístup: | Získat plný text |
| Tagy: |
Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
|
| Abstract | We present continuous-time successive convexification (ct- scvx ), a real-time-capable solution method for constrained trajectory optimization, with continuous-time constraint satisfaction and guaranteed convergence. The proposed solution framework only relies on first-order information, and it combines several key methods to solve a large class of nonlinear optimal control problems: (i) exterior penalty-based reformulation of the path constraints; (ii) generalized time-dilation; (iii) multiple-shooting discretization; (iv) ℓ1-exact penalization of the nonconvex constraints; and (v) the prox-linear method, a sequential convex programming (SCP) algorithm for convex-composite minimization. The proposed reformulation of the path constraints enables continuous-time constraint satisfaction even on sparse temporal discretization grids and obviates the need for mesh-refinement heuristics. Through the prox-linear method, we guarantee that: (i) ct-scvx converges to stationary points of the penalized problem; (ii) the converged stationary points that are feasible for the discretized and control-parameterized optimal control problem are also Karush–Kuhn–Tucker (KKT) points. Furthermore, we specialize this property to global minimizers of convex optimal control problems and obtain stronger convergence results by exploiting convexity. In addition to theoretical analysis, we demonstrate the effectiveness and real-time performance of ct-scvx by means of numerical examples from real-world optimal control applications: dynamic obstacle avoidance, and 3-degree-of-freedom (3-DoF) and 6-DoF autonomous rocket landing. |
|---|---|
| AbstractList | We present continuous-time successive convexification (ct- scvx ), a real-time-capable solution method for constrained trajectory optimization, with continuous-time constraint satisfaction and guaranteed convergence. The proposed solution framework only relies on first-order information, and it combines several key methods to solve a large class of nonlinear optimal control problems: (i) exterior penalty-based reformulation of the path constraints; (ii) generalized time-dilation; (iii) multiple-shooting discretization; (iv) ℓ1-exact penalization of the nonconvex constraints; and (v) the prox-linear method, a sequential convex programming (SCP) algorithm for convex-composite minimization. The proposed reformulation of the path constraints enables continuous-time constraint satisfaction even on sparse temporal discretization grids and obviates the need for mesh-refinement heuristics. Through the prox-linear method, we guarantee that: (i) ct-scvx converges to stationary points of the penalized problem; (ii) the converged stationary points that are feasible for the discretized and control-parameterized optimal control problem are also Karush–Kuhn–Tucker (KKT) points. Furthermore, we specialize this property to global minimizers of convex optimal control problems and obtain stronger convergence results by exploiting convexity. In addition to theoretical analysis, we demonstrate the effectiveness and real-time performance of ct-scvx by means of numerical examples from real-world optimal control applications: dynamic obstacle avoidance, and 3-degree-of-freedom (3-DoF) and 6-DoF autonomous rocket landing. |
| ArticleNumber | 112464 |
| Author | Açıkmeşe, Behçet Luo, Dayou Kim, Taewan Kamath, Abhinav G. Elango, Purnanand Uzun, Samet |
| Author_xml | – sequence: 1 givenname: Purnanand surname: Elango fullname: Elango, Purnanand email: elango@merl.com organization: Mitsubishi Electric Research Laboratories, Cambridge, MA, 02139, United States of America – sequence: 2 givenname: Dayou surname: Luo fullname: Luo, Dayou email: dayoul@uw.edu organization: Department of Applied Mathematics, University of Washington, Seattle, WA, 98195, United States of America – sequence: 3 givenname: Abhinav G. surname: Kamath fullname: Kamath, Abhinav G. email: agkamath@uw.edu organization: William E. Boeing Department of Aeronautics & Astronautics, University of Washington, Seattle, WA, 98195, United States of America – sequence: 4 givenname: Samet surname: Uzun fullname: Uzun, Samet email: samet@uw.edu organization: William E. Boeing Department of Aeronautics & Astronautics, University of Washington, Seattle, WA, 98195, United States of America – sequence: 5 givenname: Taewan surname: Kim fullname: Kim, Taewan email: twankim@uw.edu organization: William E. Boeing Department of Aeronautics & Astronautics, University of Washington, Seattle, WA, 98195, United States of America – sequence: 6 givenname: Behçet surname: Açıkmeşe fullname: Açıkmeşe, Behçet email: behcet@uw.edu organization: William E. Boeing Department of Aeronautics & Astronautics, University of Washington, Seattle, WA, 98195, United States of America |
| BookMark | eNqFkN1KAzEQhXNRwbb6DvsCu07SZHd7qcU_KAii1yGbTCCLTUqSLdanN7WCl14dZphzmPMtyMwHj4RUFBoKtL0ZGzXlsFPZadUwYKKhlPGWz8gcAERNYd1fkkVKYxk57dmcvG6Cz85PYUp1djus0qQ1puQOWOngD_jpbEnLLvjKhnjapRyV82iqoiPqHOKxCvtidl8_d1fkwqqPhNe_uiTvD_dvm6d6-_L4vLnd1pq1IteGtQa1aoVAEGo1oOKd4MqutAFqOjv0vOdd2yux7iyshwEYgLEIaHttWlgtSX_O1TGkFNHKfXQ7FY-SgjzxkKP84yFPPOSZR7Hena1Y_js4jDJph16jcbE0kia4_0O-AWl8dfg |
| Cites_doi | 10.1007/978-3-031-25555-7_34 10.2514/2.4231 10.1007/BF01588250 10.1016/j.ifacol.2023.10.1444 10.1016/j.automatica.2022.110359 10.1002/rnc.3101 10.2514/1.G002818 10.1016/j.ifacol.2024.09.062 10.1137/16M1091460 10.1109/LCSYS.2022.3186647 10.1126/scirobotics.adf7843 10.1109/TAC.2022.3144131 10.2514/1.62110 10.1137/11082381X 10.2514/1.G004536 10.1109/TCST.2012.2237346 10.1016/j.ifacol.2021.08.558 10.2514/1.G002150 10.1002/oca.939 10.3934/jimo.2014.10.275 10.1051/proc/202171107 10.1002/oca.2152 10.1007/s10107-018-1311-3 10.1016/j.arcontrol.2021.04.013 10.1007/BF02346160 10.1109/MCS.2022.3187542 10.23919/ECC.2018.8550253 10.1287/moor.2017.0889 10.1007/s12532-021-00208-8 10.1016/j.cam.2013.11.010 10.1137/1.9780898718577 10.1016/j.automatica.2009.05.029 10.1145/2558904 10.1177/0278364914528132 10.1007/s10107-004-0559-y 10.1007/978-1-4757-6097-2 10.1109/TAC.1987.1104471 10.1016/S1474-6670(17)61205-9 10.1016/0961-3552(91)90016-W 10.1109/TAC.2022.3201040 10.1109/LCSYS.2018.2849853 10.2514/1.G004549 |
| ContentType | Journal Article |
| Copyright | 2025 Elsevier Ltd |
| Copyright_xml | – notice: 2025 Elsevier Ltd |
| DBID | AAYXX CITATION |
| DOI | 10.1016/j.automatica.2025.112464 |
| DatabaseName | CrossRef |
| DatabaseTitle | CrossRef |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| ExternalDocumentID | 10_1016_j_automatica_2025_112464 S0005109825003589 |
| GroupedDBID | --K --M -~X .DC .~1 0R~ 1B1 1~. 1~5 23N 3R3 4.4 457 4G. 5GY 5VS 6TJ 7-5 71M 77I 8P~ 9JN 9JO AAAKF AAAKG AABNK AAEDT AAEDW AAIKJ AAKOC AALRI AAOAW AAQFI AAQXK AARIN AATTM AAXKI AAXUO AAYWO ABFNM ABFRF ABJNI ABMAC ABUCO ABWVN ABXDB ACBEA ACDAQ ACGFO ACGFS ACNNM ACRLP ACRPL ACVFH ADBBV ADCNI ADEZE ADIYS ADMUD ADNMO ADTZH AEBSH AECPX AEFWE AEIPS AEKER AENEX AEUPX AFFNX AFJKZ AFPUW AFTJW AGHFR AGQPQ AGUBO AGYEJ AHHHB AHJVU AHPGS AI. AIEXJ AIGII AIIUN AIKHN AITUG AKBMS AKRWK AKYEP ALMA_UNASSIGNED_HOLDINGS AMRAJ ANKPU APLSM APXCP ASPBG AVWKF AXJTR AZFZN BJAXD BKOJK BLXMC CS3 EBS EFJIC EFKBS EFLBG EJD EO8 EO9 EP2 EP3 F5P FDB FEDTE FGOYB FIRID FNPLU FYGXN G-2 G-Q GBLVA HAMUX HLZ HVGLF HZ~ H~9 IHE J1W JJJVA K-O KOM LG9 LY7 M41 MO0 N9A O-L O9- OAUVE OZT P-8 P-9 P2P PC. Q38 R2- ROL RPZ RXW SBC SDF SDG SDP SES SET SEW SPC SPCBC SSB SSD SST SSZ T5K T9H TAE TN5 VH1 WH7 WUQ X6Y XPP ZMT ~G- ~HD 9DU AAYXX ABUFD ACLOT CITATION |
| ID | FETCH-LOGICAL-c265t-d26deca655e05a3bea4754af3cd01d7fb8484768a597f09bb0200dfe0ef8cd603 |
| ISICitedReferencesCount | 3 |
| ISICitedReferencesURI | http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=001527178300001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| ISSN | 0005-1098 |
| IngestDate | Sat Nov 29 07:38:29 EST 2025 Sat Sep 20 17:13:43 EDT 2025 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Keywords | Sequential convex programming Continuous-time constraint satisfaction Optimal control Trajectory optimization |
| Language | English |
| LinkModel | OpenURL |
| MergedId | FETCHMERGED-LOGICAL-c265t-d26deca655e05a3bea4754af3cd01d7fb8484768a597f09bb0200dfe0ef8cd603 |
| ParticipantIDs | crossref_primary_10_1016_j_automatica_2025_112464 elsevier_sciencedirect_doi_10_1016_j_automatica_2025_112464 |
| PublicationCentury | 2000 |
| PublicationDate | October 2025 2025-10-00 |
| PublicationDateYYYYMMDD | 2025-10-01 |
| PublicationDate_xml | – month: 10 year: 2025 text: October 2025 |
| PublicationDecade | 2020 |
| PublicationTitle | Automatica (Oxford) |
| PublicationYear | 2025 |
| Publisher | Elsevier Ltd |
| Publisher_xml | – name: Elsevier Ltd |
| References | Teo, Goh (b67) 1987; 32 Patterson, Rao (b55) 2014; 41 Marcucci, Petersen, von Wrangel, Tedrake (b47) 2023; 8 Jennings, Fisher, Teo, Goh (b31) 1991; 13 Açıkmeşe, Scharf, Hadaegh, Murray (b2) 2006 Boyd, Vandenberghe (b9) 2004 Hiriart-Urruty, Lemarechal (b28) 1993 Oguri (b54) 2023 Drusvyatskiy, Paquette (b19) 2019; 178 Lin, Loxton, Teo (b38) 2014; 10 Szmuk, Pascucci, Açıkmeşe (b65) 2018 Berkovitz (b4) 1974 Chari, Kamath, Elango, Açıkmeşe (b11) 2024 Sathya, A., Sopasakis, P., Van Parys, R., Themelis, A., Pipeleers, G., & Patrinos, P. (2018). Embedded nonlinear model predictive control for obstacle avoidance using PANOC. In Bock, Plitt (b7) 1984; 17 Yu, Elango, Topcu, Açıkmeşe (b74) 2022; 142 Kyoto, Japan. Kamath, Elango, Açıkmeşe (b32) 2025 Sagliano (b61) 2018; 41 Folland (b23) 1999 Fontes, Paiva (b24) 2019; 3 Lee, Deka, Tomlin (b36) 2022 (pp. 1523–1528). Uzun, S., Elango, P., Kamath, A. G., Kim, T., & Açıkmeşe, B. (2024). Successive Convexification for Nonlinear Model Predictive Control with Continuous-Time Constraint Satisfaction. In Fu, Tian (b25) 2021; 127 Gill, Murray, Saunders (b26) 2006 Liu, Lin, Tomizuka (b40) 2018; 56 Verschueren, Frison, Kouzoupis, Frey, van Duijkeren, Zanelli (b69) 2022; 14 Houska, Ferreau, Diehl (b29) 2011; 32 Schulman, Duan, Ho, Lee, Awwal, Bradlow (b64) 2014; 33 Diehl, Gros (b16) 2024 Drusvyatskiy, Lewis (b18) 2018; 43 Elango, Luo, Kamath, Uzun, Kim, Açıkmeşe (b22) 2024 Rutquist, Edvall (b60) 2010 Han, Mangasarian (b27) 1979; 17 Wächter, Biegler (b70) 2006; 106 Kamath, Elango, Yu, Mceowen, Chari, Carson (b34) 2023; 56 Xie, Zhou, Zhang, Tang (b72) 2023 Loxton, Teo, Rehbock, Yiu (b42) 2009; 45 Reynolds, Szmuk, Malyuta, Mesbahi, Açıkmeşe, Carson (b58) 2020; 43 Lin, Loxton, Teo, Wu, Yu (b39) 2014; 261 Clarke, Ledyaev, Stern, Wolenski (b14) 1998 Açıkmeşe, Carson, Blackmore (b1) 2013; 21 Dueri, Mao, Mian, Ding, Açıkmeşe (b20) 2017 Kamath, Elango, Kim, Mceowen, Yu, Carson (b33) 2023 Mceowen, Calderone, Tiwary, Zhou, Kim, Elango (b48) 2024 Quirynen, Vukov, Zanon, Diehl (b56) 2015; 36 Clarke (b13) 2013 Luo, Elango, Açıkmeşe (b43) 2024 Cartis, Gould, Toint (b10) 2011; 21 McInerney, Nita, Nie, Oliveri, Kerrigan (b50) 2021; 54 McGill (b49) 1965; 3 Kim, Kamath, Rahimi, Corleis, Açıkmeşe, Mesbahi (b35) 2024 Betts (b6) 2010 Betts (b5) 1998; 21 Szmuk, Reynolds, Açıkmeşe (b66) 2020; 43 Reynolds, Malyuta, Mesbahi, Açıkmeşe, Carson (b57) 2020 Yu, Elango, Açıkmeşe, Topcu (b73) 2022; 7 Malyuta, Reynolds, Szmuk, Lew, Bonalli, Pavone (b44) 2022; 42 Sargent, Sullivan (b62) 1977; vol. 7 Liu, Lu (b41) 2014; 37 Nocedal, Wright (b53) 2006 Wang, Grant (b71) 2017; 40 Bonalli, Lew, Pavone (b8) 2022 Malyuta, Yu, Elango, Açıkmeşe (b45) 2021; 52 Di Pillo, Grippo (b15) 1988; 57 Domahidi, Chu, Boyd (b17) 2013 Beck (b3) 2017 Nie, Kerrigan (b52) 2023; 68 Messerer, Baumgärtner, Diehl (b51) 2021; 71 Elango, Kamath, Yu, Carson, Mesbahi, Açıkmeşe (b21) 2022 Mao, Szmuk, Xu, Açıkmeşe (b46) 2019 Richards, Turnbull (b59) 2015; 25 Liberzon (b37) 2011 Howell, Tracy, Le Cleac’h, Manchester (b30) 2023 Chari, Yu, Açıkmeşe (b12) 2024 Luo (10.1016/j.automatica.2025.112464_b43) 2024 Gill (10.1016/j.automatica.2025.112464_b26) 2006 Liu (10.1016/j.automatica.2025.112464_b40) 2018; 56 Yu (10.1016/j.automatica.2025.112464_b73) 2022; 7 Bonalli (10.1016/j.automatica.2025.112464_b8) 2022 Açıkmeşe (10.1016/j.automatica.2025.112464_b2) 2006 Yu (10.1016/j.automatica.2025.112464_b74) 2022; 142 Diehl (10.1016/j.automatica.2025.112464_b16) 2024 Kamath (10.1016/j.automatica.2025.112464_b32) 2025 Oguri (10.1016/j.automatica.2025.112464_b54) 2023 Malyuta (10.1016/j.automatica.2025.112464_b44) 2022; 42 Chari (10.1016/j.automatica.2025.112464_b11) 2024 10.1016/j.automatica.2025.112464_b63 Verschueren (10.1016/j.automatica.2025.112464_b69) 2022; 14 Richards (10.1016/j.automatica.2025.112464_b59) 2015; 25 McGill (10.1016/j.automatica.2025.112464_b49) 1965; 3 Folland (10.1016/j.automatica.2025.112464_b23) 1999 10.1016/j.automatica.2025.112464_b68 Szmuk (10.1016/j.automatica.2025.112464_b65) 2018 Di Pillo (10.1016/j.automatica.2025.112464_b15) 1988; 57 Lee (10.1016/j.automatica.2025.112464_b36) 2022 Szmuk (10.1016/j.automatica.2025.112464_b66) 2020; 43 Liberzon (10.1016/j.automatica.2025.112464_b37) 2011 Messerer (10.1016/j.automatica.2025.112464_b51) 2021; 71 Teo (10.1016/j.automatica.2025.112464_b67) 1987; 32 Clarke (10.1016/j.automatica.2025.112464_b13) 2013 Xie (10.1016/j.automatica.2025.112464_b72) 2023 Fontes (10.1016/j.automatica.2025.112464_b24) 2019; 3 Dueri (10.1016/j.automatica.2025.112464_b20) 2017 Reynolds (10.1016/j.automatica.2025.112464_b57) 2020 Kamath (10.1016/j.automatica.2025.112464_b34) 2023; 56 Fu (10.1016/j.automatica.2025.112464_b25) 2021; 127 Kim (10.1016/j.automatica.2025.112464_b35) 2024 Betts (10.1016/j.automatica.2025.112464_b6) 2010 Drusvyatskiy (10.1016/j.automatica.2025.112464_b19) 2019; 178 Han (10.1016/j.automatica.2025.112464_b27) 1979; 17 Clarke (10.1016/j.automatica.2025.112464_b14) 1998 Wächter (10.1016/j.automatica.2025.112464_b70) 2006; 106 Drusvyatskiy (10.1016/j.automatica.2025.112464_b18) 2018; 43 Rutquist (10.1016/j.automatica.2025.112464_b60) 2010 Berkovitz (10.1016/j.automatica.2025.112464_b4) 1974 Chari (10.1016/j.automatica.2025.112464_b12) 2024 Schulman (10.1016/j.automatica.2025.112464_b64) 2014; 33 Beck (10.1016/j.automatica.2025.112464_b3) 2017 Bock (10.1016/j.automatica.2025.112464_b7) 1984; 17 Reynolds (10.1016/j.automatica.2025.112464_b58) 2020; 43 Liu (10.1016/j.automatica.2025.112464_b41) 2014; 37 Kamath (10.1016/j.automatica.2025.112464_b33) 2023 Betts (10.1016/j.automatica.2025.112464_b5) 1998; 21 Nocedal (10.1016/j.automatica.2025.112464_b53) 2006 Nie (10.1016/j.automatica.2025.112464_b52) 2023; 68 McInerney (10.1016/j.automatica.2025.112464_b50) 2021; 54 Sargent (10.1016/j.automatica.2025.112464_b62) 1977; vol. 7 Elango (10.1016/j.automatica.2025.112464_b21) 2022 Mceowen (10.1016/j.automatica.2025.112464_b48) 2024 Marcucci (10.1016/j.automatica.2025.112464_b47) 2023; 8 Hiriart-Urruty (10.1016/j.automatica.2025.112464_b28) 1993 Elango (10.1016/j.automatica.2025.112464_b22) 2024 Lin (10.1016/j.automatica.2025.112464_b38) 2014; 10 Malyuta (10.1016/j.automatica.2025.112464_b45) 2021; 52 Mao (10.1016/j.automatica.2025.112464_b46) 2019 Wang (10.1016/j.automatica.2025.112464_b71) 2017; 40 Boyd (10.1016/j.automatica.2025.112464_b9) 2004 Cartis (10.1016/j.automatica.2025.112464_b10) 2011; 21 Loxton (10.1016/j.automatica.2025.112464_b42) 2009; 45 Houska (10.1016/j.automatica.2025.112464_b29) 2011; 32 Açıkmeşe (10.1016/j.automatica.2025.112464_b1) 2013; 21 Howell (10.1016/j.automatica.2025.112464_b30) 2023 Jennings (10.1016/j.automatica.2025.112464_b31) 1991; 13 Lin (10.1016/j.automatica.2025.112464_b39) 2014; 261 Quirynen (10.1016/j.automatica.2025.112464_b56) 2015; 36 Domahidi (10.1016/j.automatica.2025.112464_b17) 2013 Sagliano (10.1016/j.automatica.2025.112464_b61) 2018; 41 Patterson (10.1016/j.automatica.2025.112464_b55) 2014; 41 |
| References_xml | – start-page: 528 year: 2010 ident: b60 article-title: PROPT-MATLAB optimal control software – volume: 142 year: 2022 ident: b74 article-title: Proportional–integral projected gradient method for conic optimization publication-title: Automatica – volume: 106 start-page: 25 year: 2006 end-page: 57 ident: b70 article-title: On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming publication-title: Mathematical Programming – year: 2010 ident: b6 article-title: Practical methods for optimal control and estimation using nonlinear programming publication-title: Advances in Design and Control – start-page: 1150 year: 2017 end-page: 1156 ident: b20 article-title: Trajectory optimization with inter-sample obstacle avoidance via successive convexification publication-title: 2017 IEEE 56th Conference on Decision and Control – reference: Uzun, S., Elango, P., Kamath, A. G., Kim, T., & Açıkmeşe, B. (2024). Successive Convexification for Nonlinear Model Predictive Control with Continuous-Time Constraint Satisfaction. In – volume: 36 start-page: 685 year: 2015 end-page: 704 ident: b56 article-title: Autogenerating microsecond solvers for nonlinear MPC: A tutorial using ACADO integrators publication-title: Optimal Control Applications and Methods – reference: Sathya, A., Sopasakis, P., Van Parys, R., Themelis, A., Pipeleers, G., & Patrinos, P. (2018). Embedded nonlinear model predictive control for obstacle avoidance using PANOC. In – volume: 43 start-page: 919 year: 2018 end-page: 948 ident: b18 article-title: Error bounds, quadratic growth, and linear convergence of proximal methods publication-title: Mathematics of Operations Research – start-page: 1 year: 2022 end-page: 8 ident: b36 article-title: Convexifying state-constrained optimal control problems publication-title: IEEE Transactions on Automatic Control – year: 2006 ident: b2 article-title: A convex guidance algorithm for formation reconfiguration publication-title: AIAA Guidance Navigation and Control Conference – start-page: 1 year: 2023 end-page: 16 ident: b72 article-title: Descent property in sequential second-order cone programming for nonlinear trajectory optimization publication-title: Journal of Guidance, Control, and Dynamics – year: 2024 ident: b16 article-title: Numerical optimal control – volume: 33 start-page: 1251 year: 2014 end-page: 1270 ident: b64 article-title: Motion planning with sequential convex optimization and convex collision checking publication-title: International Journal of Robotics Research – year: 1993 ident: b28 article-title: Convex analysis and minimization algorithms I: Fundametals publication-title: Grundlehren der mathematischen Wissenschaften – start-page: 3296 year: 2023 end-page: 3302 ident: b54 article-title: Successive convexification with feasibility guarantee via augmented Lagrangian for non-convex optimal control problems publication-title: 2023 62nd IEEE Conference on Decision and Control – volume: 56 start-page: 3118 year: 2023 end-page: 3125 ident: b34 article-title: Real-time sequential conic optimization for multi-phase rocket landing guidance publication-title: IFAC-PapersOnLine – year: 2020 ident: b57 article-title: A real-time algorithm for non-convex powered descent guidance publication-title: AIAA SCITECH 2020 forum – volume: 32 start-page: 940 year: 1987 end-page: 941 ident: b67 article-title: A simple computational procedure for optimization problems with functional inequality constraints publication-title: IEEE Transactions on Automatic Control – volume: 45 start-page: 2250 year: 2009 end-page: 2257 ident: b42 article-title: Optimal control problems with a continuous inequality constraint on the state and the control publication-title: Automatica – volume: 25 start-page: 521 year: 2015 end-page: 526 ident: b59 article-title: Inter-sample avoidance in trajectory optimizers using mixed-integer linear programming publication-title: International Journal of Robust and Nonlinear Control – year: 2025 ident: b32 article-title: Optimal preconditioning for online quadratic cone programming – volume: 41 start-page: 320 year: 2018 end-page: 334 ident: b61 article-title: Pseudospectral convex optimization for powered descent and landing publication-title: Journal of Guidance, Control, and Dynamics – year: 2024 ident: b43 article-title: Remarks on “successive convexification: A superlinearly convergent algorithm for non-convex optimal control problems” – start-page: 504 year: 2023 end-page: 521 ident: b30 article-title: CALIPSO: A differentiable solver for trajectory optimization with conic and complementarity constraints publication-title: Springer Proceedings in Advanced Robotics – volume: 41 start-page: 1 year: 2014 end-page: 37 ident: b55 article-title: GPOPS-II: A MATLAB software for solving multiple-phase optimal control problems using hp-adaptive Gaussian quadrature collocation methods and sparse nonlinear programming publication-title: Association for Computing Machinery. Transactions on Mathematical Software – start-page: 1676 year: 2024 end-page: 1683 ident: b12 article-title: Constraint preconditioning and parameter selection for a first-order primal-dual method applied to model predictive control publication-title: 2024 IEEE 63rd Conference on Decision and Control – start-page: 3071 year: 2013 end-page: 3076 ident: b17 article-title: ECOS: An SOCP solver for embedded systems publication-title: 2013 European Control Conference – volume: 68 start-page: 548 year: 2023 end-page: 555 ident: b52 article-title: Solving dynamic optimization problems to a specified accuracy: An alternating approach using integrated residuals publication-title: IEEE Transactions on Automatic Control – year: 2024 ident: b11 article-title: Fast Monte Carlo analysis for 6-DoF powered-descent guidance via GPU-accelerated sequential convex programming publication-title: AIAA SCITECH 2024 forum – volume: 21 start-page: 193 year: 1998 end-page: 207 ident: b5 article-title: Survey of numerical methods for trajectory optimization publication-title: Journal of Guidance, Control, and Dynamics – volume: 3 start-page: 291 year: 1965 end-page: 298 ident: b49 article-title: Optimum control, inequality state constraints, and the generalized newton-raphson algorithm publication-title: Journal of the Society for Industrial and Applied Mathematics – volume: 21 start-page: 1721 year: 2011 end-page: 1739 ident: b10 article-title: On the evaluation complexity of composite function minimization with applications to nonconvex nonlinear programming publication-title: SIAM Journal on Optimization – year: 1999 ident: b23 publication-title: Real Analysis: Modern Techniques and their Applications – year: 2018 ident: b65 article-title: Real-time quad-rotor path planning for mobile obstacle avoidance using convex optimization publication-title: 2018 IEEE/RSJ international conference on intelligent robots and systems – volume: 40 start-page: 2603 year: 2017 end-page: 2615 ident: b71 article-title: Constrained trajectory optimization for planetary entry via sequential convex programming publication-title: Journal of Guidance, Control, and Dynamics – volume: 13 start-page: 190 year: 1991 end-page: 196 ident: b31 article-title: MISER3: Solving optimal control problems–an update publication-title: Advances in Engineering Software and Workstation – year: 2006 ident: b53 article-title: Numerical Optimization – volume: 21 start-page: 2104 year: 2013 end-page: 2113 ident: b1 article-title: Lossless convexification of nonconvex control bound and pointing constraints of the soft landing optimal control problem publication-title: IEEE Transactions on Control Systems Technology – volume: 14 start-page: 147 year: 2022 end-page: 183 ident: b69 article-title: Acados-a modular open-source framework for fast embedded optimal control publication-title: Mathematical Programming Computation – year: 2023 ident: b33 article-title: Customized real-time first-order methods for onboard dual quaternion-based 6-DoF powered-descent guidance publication-title: AIAA SCITECH 2023 forum – year: 1974 ident: b4 article-title: Optimal control theory publication-title: Applied Mathematical Sciences – year: 2024 ident: b22 article-title: Successive convexification for trajectory optimization with continuous-time constraint satisfaction – year: 2019 ident: b46 article-title: Successive convexification: A superlinearly convergent algorithm for non-convex optimal control problems – year: 2017 ident: b3 article-title: First-order methods in optimization – volume: 54 start-page: 284 year: 2021 end-page: 289 ident: b50 article-title: Towards a framework for nonlinear predictive control using derivative-free optimization publication-title: IFAC-PapersOnLine – volume: 7 start-page: 73 year: 2022 end-page: 78 ident: b73 article-title: Extrapolated proportional-integral projected gradient method for conic optimization publication-title: IEEE Control Systems Letters – volume: 56 start-page: 2712 year: 2018 end-page: 2733 ident: b40 article-title: The convex feasible set algorithm for real time optimization in motion planning publication-title: SIAM Journal of Control and Optimization – volume: 71 start-page: 64 year: 2021 end-page: 88 ident: b51 article-title: Survey of sequential convex programming and generalized Gauss-Newton methods publication-title: ESAIM: Proceedings and Surveys – volume: 127 year: 2021 ident: b25 article-title: Dynamic optimization of nonlinear systems with guaranteed feasibility of inequality-path-constraints publication-title: Automatica – volume: 37 start-page: 750 year: 2014 end-page: 765 ident: b41 article-title: Solving nonconvex optimal control problems by convex optimization publication-title: Journal of Guidance, Control, and Dynamics – start-page: 1 year: 2022 end-page: 16 ident: b8 article-title: Analysis of theoretical and numerical properties of sequential convex programming for continuous-time optimal control publication-title: IEEE Transactions on Automatic Control – year: 2004 ident: b9 article-title: Convex Optimization – year: 2006 ident: b26 article-title: SNOPT: An SQP algorithm for large-scale constrained optimization publication-title: SIAM Review – volume: 42 start-page: 40 year: 2022 end-page: 113 ident: b44 article-title: Convex optimization for trajectory generation: A tutorial on generating dynamically feasible trajectories reliably and efficiently publication-title: IEEE Control Systems Magazine – volume: 17 start-page: 251 year: 1979 end-page: 269 ident: b27 article-title: Exact penalty functions in nonlinear programming publication-title: Mathematical Programming – year: 2024 ident: b48 article-title: Auto-tuned primal-dual successive convexification for hypersonic reentry guidance – volume: 10 start-page: 275 year: 2014 end-page: 309 ident: b38 article-title: The control parameterization method for nonlinear optimal control: A survey publication-title: Journal of Industrial and Management Optimization – volume: 8 year: 2023 ident: b47 article-title: Motion planning around obstacles with convex optimization publication-title: Science Robotics – volume: 43 start-page: 1399 year: 2020 end-page: 1413 ident: b66 article-title: Successive convexification for real-time six-degree-of-freedom powered descent guidance with state-triggered constraints publication-title: Journal of Guidance, Control, and Dynamics – volume: vol. 7 start-page: 158 year: 1977 end-page: 168 ident: b62 article-title: The development of an efficient optimal control package publication-title: Proceedings of the 8th IFIP conference on optimization techniques, würzburg, September 5–9, 1977 – volume: 32 start-page: 298 year: 2011 end-page: 312 ident: b29 article-title: ACADO toolkit–an open-source framework for automatic control and dynamic optimization publication-title: Optimal Control Applications and Methods – volume: 178 start-page: 503 year: 2019 end-page: 558 ident: b19 article-title: Efficiency of minimizing compositions of convex functions and smooth maps publication-title: Mathematical Programming – volume: 17 start-page: 1603 year: 1984 end-page: 1608 ident: b7 article-title: A multiple shooting algorithm for direct solution of optimal control problems publication-title: IFAC Proceedings Volumes – year: 2011 ident: b37 article-title: Calculus of variations and optimal control theory: A concise introduction – reference: . Kyoto, Japan. – year: 2013 ident: b13 publication-title: Functional analysis, calculus of variations and optimal control – volume: 261 start-page: 271 year: 2014 end-page: 286 ident: b39 article-title: A new exact penalty method for semi-infinite programming problems publication-title: Journal of Computational and Applied Mathematics – volume: 3 start-page: 13 year: 2019 end-page: 18 ident: b24 article-title: Guaranteed constraint satisfaction in continuous-time control problems publication-title: IEEE Control Systems Letters – volume: 52 start-page: 282 year: 2021 end-page: 315 ident: b45 article-title: Advances in trajectory optimization for space vehicle control publication-title: Annual Reviews in Control – volume: 43 start-page: 1584 year: 2020 end-page: 1599 ident: b58 article-title: Dual quaternion-based powered descent guidance with state-triggered constraints publication-title: Journal of Guidance, Control, and Dynamics – year: 2024 ident: b35 article-title: Six-degree-of-freedom aircraft landing trajectory planning with runway alignment – reference: (pp. 1523–1528). – year: 1998 ident: b14 article-title: Nonsmooth analysis and control theory publication-title: Graduate texts in mathematics – year: 2022 ident: b21 article-title: A customized first-order solver for real-time powered-descent guidance publication-title: AIAA SCITECH 2022 forum – volume: 57 start-page: 399 year: 1988 end-page: 410 ident: b15 article-title: On the exactness of a class of nondifferentiable penalty functions publication-title: Journal of Optimization Theory and Applications – start-page: 504 year: 2023 ident: 10.1016/j.automatica.2025.112464_b30 article-title: CALIPSO: A differentiable solver for trajectory optimization with conic and complementarity constraints doi: 10.1007/978-3-031-25555-7_34 – volume: 21 start-page: 193 issue: 2 year: 1998 ident: 10.1016/j.automatica.2025.112464_b5 article-title: Survey of numerical methods for trajectory optimization publication-title: Journal of Guidance, Control, and Dynamics doi: 10.2514/2.4231 – year: 2023 ident: 10.1016/j.automatica.2025.112464_b33 article-title: Customized real-time first-order methods for onboard dual quaternion-based 6-DoF powered-descent guidance – start-page: 1676 year: 2024 ident: 10.1016/j.automatica.2025.112464_b12 article-title: Constraint preconditioning and parameter selection for a first-order primal-dual method applied to model predictive control – volume: 17 start-page: 251 year: 1979 ident: 10.1016/j.automatica.2025.112464_b27 article-title: Exact penalty functions in nonlinear programming publication-title: Mathematical Programming doi: 10.1007/BF01588250 – volume: 3 start-page: 291 issue: 2 year: 1965 ident: 10.1016/j.automatica.2025.112464_b49 article-title: Optimum control, inequality state constraints, and the generalized newton-raphson algorithm publication-title: Journal of the Society for Industrial and Applied Mathematics – volume: 56 start-page: 3118 issue: 2 year: 2023 ident: 10.1016/j.automatica.2025.112464_b34 article-title: Real-time sequential conic optimization for multi-phase rocket landing guidance publication-title: IFAC-PapersOnLine doi: 10.1016/j.ifacol.2023.10.1444 – year: 2025 ident: 10.1016/j.automatica.2025.112464_b32 – year: 2011 ident: 10.1016/j.automatica.2025.112464_b37 – volume: 142 year: 2022 ident: 10.1016/j.automatica.2025.112464_b74 article-title: Proportional–integral projected gradient method for conic optimization publication-title: Automatica doi: 10.1016/j.automatica.2022.110359 – volume: 25 start-page: 521 issue: 4 year: 2015 ident: 10.1016/j.automatica.2025.112464_b59 article-title: Inter-sample avoidance in trajectory optimizers using mixed-integer linear programming publication-title: International Journal of Robust and Nonlinear Control doi: 10.1002/rnc.3101 – volume: 41 start-page: 320 issue: 2 year: 2018 ident: 10.1016/j.automatica.2025.112464_b61 article-title: Pseudospectral convex optimization for powered descent and landing publication-title: Journal of Guidance, Control, and Dynamics doi: 10.2514/1.G002818 – ident: 10.1016/j.automatica.2025.112464_b68 doi: 10.1016/j.ifacol.2024.09.062 – year: 2004 ident: 10.1016/j.automatica.2025.112464_b9 – year: 2017 ident: 10.1016/j.automatica.2025.112464_b3 – start-page: 1150 year: 2017 ident: 10.1016/j.automatica.2025.112464_b20 article-title: Trajectory optimization with inter-sample obstacle avoidance via successive convexification – volume: 56 start-page: 2712 issue: 4 year: 2018 ident: 10.1016/j.automatica.2025.112464_b40 article-title: The convex feasible set algorithm for real time optimization in motion planning publication-title: SIAM Journal of Control and Optimization doi: 10.1137/16M1091460 – volume: 7 start-page: 73 year: 2022 ident: 10.1016/j.automatica.2025.112464_b73 article-title: Extrapolated proportional-integral projected gradient method for conic optimization publication-title: IEEE Control Systems Letters doi: 10.1109/LCSYS.2022.3186647 – volume: 127 issue: 109516 year: 2021 ident: 10.1016/j.automatica.2025.112464_b25 article-title: Dynamic optimization of nonlinear systems with guaranteed feasibility of inequality-path-constraints publication-title: Automatica – start-page: 528 year: 2010 ident: 10.1016/j.automatica.2025.112464_b60 – volume: 8 issue: 84 year: 2023 ident: 10.1016/j.automatica.2025.112464_b47 article-title: Motion planning around obstacles with convex optimization publication-title: Science Robotics doi: 10.1126/scirobotics.adf7843 – volume: 68 start-page: 548 issue: 1 year: 2023 ident: 10.1016/j.automatica.2025.112464_b52 article-title: Solving dynamic optimization problems to a specified accuracy: An alternating approach using integrated residuals publication-title: IEEE Transactions on Automatic Control doi: 10.1109/TAC.2022.3144131 – start-page: 1 year: 2022 ident: 10.1016/j.automatica.2025.112464_b8 article-title: Analysis of theoretical and numerical properties of sequential convex programming for continuous-time optimal control publication-title: IEEE Transactions on Automatic Control – start-page: 3296 year: 2023 ident: 10.1016/j.automatica.2025.112464_b54 article-title: Successive convexification with feasibility guarantee via augmented Lagrangian for non-convex optimal control problems – volume: 37 start-page: 750 issue: 3 year: 2014 ident: 10.1016/j.automatica.2025.112464_b41 article-title: Solving nonconvex optimal control problems by convex optimization publication-title: Journal of Guidance, Control, and Dynamics doi: 10.2514/1.62110 – volume: 21 start-page: 1721 issue: 4 year: 2011 ident: 10.1016/j.automatica.2025.112464_b10 article-title: On the evaluation complexity of composite function minimization with applications to nonconvex nonlinear programming publication-title: SIAM Journal on Optimization doi: 10.1137/11082381X – volume: 43 start-page: 1584 issue: 9 year: 2020 ident: 10.1016/j.automatica.2025.112464_b58 article-title: Dual quaternion-based powered descent guidance with state-triggered constraints publication-title: Journal of Guidance, Control, and Dynamics doi: 10.2514/1.G004536 – volume: 21 start-page: 2104 issue: 6 year: 2013 ident: 10.1016/j.automatica.2025.112464_b1 article-title: Lossless convexification of nonconvex control bound and pointing constraints of the soft landing optimal control problem publication-title: IEEE Transactions on Control Systems Technology doi: 10.1109/TCST.2012.2237346 – volume: 54 start-page: 284 issue: 6 year: 2021 ident: 10.1016/j.automatica.2025.112464_b50 article-title: Towards a framework for nonlinear predictive control using derivative-free optimization publication-title: IFAC-PapersOnLine doi: 10.1016/j.ifacol.2021.08.558 – volume: 40 start-page: 2603 issue: 10 year: 2017 ident: 10.1016/j.automatica.2025.112464_b71 article-title: Constrained trajectory optimization for planetary entry via sequential convex programming publication-title: Journal of Guidance, Control, and Dynamics doi: 10.2514/1.G002150 – volume: 32 start-page: 298 issue: 3 year: 2011 ident: 10.1016/j.automatica.2025.112464_b29 article-title: ACADO toolkit–an open-source framework for automatic control and dynamic optimization publication-title: Optimal Control Applications and Methods doi: 10.1002/oca.939 – year: 1993 ident: 10.1016/j.automatica.2025.112464_b28 article-title: Convex analysis and minimization algorithms I: Fundametals – volume: 10 start-page: 275 issue: 1 year: 2014 ident: 10.1016/j.automatica.2025.112464_b38 article-title: The control parameterization method for nonlinear optimal control: A survey publication-title: Journal of Industrial and Management Optimization doi: 10.3934/jimo.2014.10.275 – volume: 71 start-page: 64 year: 2021 ident: 10.1016/j.automatica.2025.112464_b51 article-title: Survey of sequential convex programming and generalized Gauss-Newton methods publication-title: ESAIM: Proceedings and Surveys doi: 10.1051/proc/202171107 – volume: 36 start-page: 685 issue: 5 year: 2015 ident: 10.1016/j.automatica.2025.112464_b56 article-title: Autogenerating microsecond solvers for nonlinear MPC: A tutorial using ACADO integrators publication-title: Optimal Control Applications and Methods doi: 10.1002/oca.2152 – volume: 178 start-page: 503 year: 2019 ident: 10.1016/j.automatica.2025.112464_b19 article-title: Efficiency of minimizing compositions of convex functions and smooth maps publication-title: Mathematical Programming doi: 10.1007/s10107-018-1311-3 – volume: 52 start-page: 282 year: 2021 ident: 10.1016/j.automatica.2025.112464_b45 article-title: Advances in trajectory optimization for space vehicle control publication-title: Annual Reviews in Control doi: 10.1016/j.arcontrol.2021.04.013 – volume: 57 start-page: 399 issue: 3 year: 1988 ident: 10.1016/j.automatica.2025.112464_b15 article-title: On the exactness of a class of nondifferentiable penalty functions publication-title: Journal of Optimization Theory and Applications doi: 10.1007/BF02346160 – start-page: 3071 year: 2013 ident: 10.1016/j.automatica.2025.112464_b17 article-title: ECOS: An SOCP solver for embedded systems – year: 2018 ident: 10.1016/j.automatica.2025.112464_b65 article-title: Real-time quad-rotor path planning for mobile obstacle avoidance using convex optimization – year: 1999 ident: 10.1016/j.automatica.2025.112464_b23 – volume: vol. 7 start-page: 158 year: 1977 ident: 10.1016/j.automatica.2025.112464_b62 article-title: The development of an efficient optimal control package – volume: 42 start-page: 40 issue: 5 year: 2022 ident: 10.1016/j.automatica.2025.112464_b44 article-title: Convex optimization for trajectory generation: A tutorial on generating dynamically feasible trajectories reliably and efficiently publication-title: IEEE Control Systems Magazine doi: 10.1109/MCS.2022.3187542 – year: 2006 ident: 10.1016/j.automatica.2025.112464_b53 – year: 1998 ident: 10.1016/j.automatica.2025.112464_b14 article-title: Nonsmooth analysis and control theory – ident: 10.1016/j.automatica.2025.112464_b63 doi: 10.23919/ECC.2018.8550253 – volume: 43 start-page: 919 issue: 3 year: 2018 ident: 10.1016/j.automatica.2025.112464_b18 article-title: Error bounds, quadratic growth, and linear convergence of proximal methods publication-title: Mathematics of Operations Research doi: 10.1287/moor.2017.0889 – volume: 14 start-page: 147 issue: 1 year: 2022 ident: 10.1016/j.automatica.2025.112464_b69 article-title: Acados-a modular open-source framework for fast embedded optimal control publication-title: Mathematical Programming Computation doi: 10.1007/s12532-021-00208-8 – volume: 261 start-page: 271 year: 2014 ident: 10.1016/j.automatica.2025.112464_b39 article-title: A new exact penalty method for semi-infinite programming problems publication-title: Journal of Computational and Applied Mathematics doi: 10.1016/j.cam.2013.11.010 – year: 2024 ident: 10.1016/j.automatica.2025.112464_b22 – year: 2024 ident: 10.1016/j.automatica.2025.112464_b16 – year: 2010 ident: 10.1016/j.automatica.2025.112464_b6 article-title: Practical methods for optimal control and estimation using nonlinear programming doi: 10.1137/1.9780898718577 – volume: 45 start-page: 2250 issue: 10 year: 2009 ident: 10.1016/j.automatica.2025.112464_b42 article-title: Optimal control problems with a continuous inequality constraint on the state and the control publication-title: Automatica doi: 10.1016/j.automatica.2009.05.029 – volume: 41 start-page: 1 issue: 1 year: 2014 ident: 10.1016/j.automatica.2025.112464_b55 article-title: GPOPS-II: A MATLAB software for solving multiple-phase optimal control problems using hp-adaptive Gaussian quadrature collocation methods and sparse nonlinear programming publication-title: Association for Computing Machinery. Transactions on Mathematical Software doi: 10.1145/2558904 – volume: 33 start-page: 1251 issue: 9 year: 2014 ident: 10.1016/j.automatica.2025.112464_b64 article-title: Motion planning with sequential convex optimization and convex collision checking publication-title: International Journal of Robotics Research doi: 10.1177/0278364914528132 – year: 2022 ident: 10.1016/j.automatica.2025.112464_b21 article-title: A customized first-order solver for real-time powered-descent guidance – year: 2024 ident: 10.1016/j.automatica.2025.112464_b43 – volume: 106 start-page: 25 issue: 1 year: 2006 ident: 10.1016/j.automatica.2025.112464_b70 article-title: On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming publication-title: Mathematical Programming doi: 10.1007/s10107-004-0559-y – year: 1974 ident: 10.1016/j.automatica.2025.112464_b4 article-title: Optimal control theory doi: 10.1007/978-1-4757-6097-2 – volume: 32 start-page: 940 issue: 10 year: 1987 ident: 10.1016/j.automatica.2025.112464_b67 article-title: A simple computational procedure for optimization problems with functional inequality constraints publication-title: IEEE Transactions on Automatic Control doi: 10.1109/TAC.1987.1104471 – year: 2024 ident: 10.1016/j.automatica.2025.112464_b35 – volume: 17 start-page: 1603 issue: 2 year: 1984 ident: 10.1016/j.automatica.2025.112464_b7 article-title: A multiple shooting algorithm for direct solution of optimal control problems publication-title: IFAC Proceedings Volumes doi: 10.1016/S1474-6670(17)61205-9 – year: 2024 ident: 10.1016/j.automatica.2025.112464_b48 – year: 2006 ident: 10.1016/j.automatica.2025.112464_b2 article-title: A convex guidance algorithm for formation reconfiguration – volume: 13 start-page: 190 issue: 4 year: 1991 ident: 10.1016/j.automatica.2025.112464_b31 article-title: MISER3: Solving optimal control problems–an update publication-title: Advances in Engineering Software and Workstation doi: 10.1016/0961-3552(91)90016-W – year: 2024 ident: 10.1016/j.automatica.2025.112464_b11 article-title: Fast Monte Carlo analysis for 6-DoF powered-descent guidance via GPU-accelerated sequential convex programming – start-page: 1 year: 2022 ident: 10.1016/j.automatica.2025.112464_b36 article-title: Convexifying state-constrained optimal control problems publication-title: IEEE Transactions on Automatic Control doi: 10.1109/TAC.2022.3201040 – year: 2019 ident: 10.1016/j.automatica.2025.112464_b46 – start-page: 1 year: 2023 ident: 10.1016/j.automatica.2025.112464_b72 article-title: Descent property in sequential second-order cone programming for nonlinear trajectory optimization publication-title: Journal of Guidance, Control, and Dynamics – year: 2013 ident: 10.1016/j.automatica.2025.112464_b13 – volume: 3 start-page: 13 issue: 1 year: 2019 ident: 10.1016/j.automatica.2025.112464_b24 article-title: Guaranteed constraint satisfaction in continuous-time control problems publication-title: IEEE Control Systems Letters doi: 10.1109/LCSYS.2018.2849853 – volume: 43 start-page: 1399 issue: 8 year: 2020 ident: 10.1016/j.automatica.2025.112464_b66 article-title: Successive convexification for real-time six-degree-of-freedom powered descent guidance with state-triggered constraints publication-title: Journal of Guidance, Control, and Dynamics doi: 10.2514/1.G004549 – year: 2006 ident: 10.1016/j.automatica.2025.112464_b26 article-title: SNOPT: An SQP algorithm for large-scale constrained optimization publication-title: SIAM Review – year: 2020 ident: 10.1016/j.automatica.2025.112464_b57 article-title: A real-time algorithm for non-convex powered descent guidance |
| SSID | ssj0004182 |
| Score | 2.5036113 |
| Snippet | We present continuous-time successive convexification (ct- scvx ), a real-time-capable solution method for constrained trajectory optimization, with... |
| SourceID | crossref elsevier |
| SourceType | Index Database Publisher |
| StartPage | 112464 |
| SubjectTerms | Continuous-time constraint satisfaction Optimal control Sequential convex programming Trajectory optimization |
| Title | Continuous-time successive convexification for constrained trajectory optimization |
| URI | https://dx.doi.org/10.1016/j.automatica.2025.112464 |
| Volume | 180 |
| WOSCitedRecordID | wos001527178300001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVESC databaseName: Elsevier SD Freedom Collection Journals 2021 issn: 0005-1098 databaseCode: AIEXJ dateStart: 19950101 customDbUrl: isFulltext: true dateEnd: 99991231 titleUrlDefault: https://www.sciencedirect.com omitProxy: false ssIdentifier: ssj0004182 providerName: Elsevier |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwtV1ZS8NAEF7q8aAP4ok3efCtpCTtbg58KlIvRERU-hZ2Nxuw2ES0KVXwvzub3WRjFTzAl6RsyOSY6eSb4ZsZhA4YD-H_B5GqcDGxMcPMDmPKbQAnvod5kLhFx5u7C__yMuj3w6tG462shRk_-GkaTCbh47-qGtZA2bJ09hfqroTCAvwGpcMW1A7bHyle9pu6T3OI6G05OL75nBczESVDqKCYTyQ5yFAMuQSIck4EIE_YD4os_kszA1cy1DWadQDbzUdZ0eWVFo1KJ4obX2UTejL_WWRfr-Stpmo-iKL85Jki0b9keeXmKcgqEjtdJgd5j5snrfLY7WuucrN0qIu0dXKiTSqam3G4ck0NmjYO16m5TAB8WDUy_-TNVWJhILk8-tFa8iItc8rHBtpTH7aKblgy2QaRkRRJSZGSNIPm2j4JwSnOdc96_XNTWOsGqt28fgpNBVMEwa_v6mt8U8MsN8toSQcbVlcZyQpqiHQVLdZaUK6h6ylzsYy5WFPmYoGurZq5WMZcrLq5rKPb497N0amt52zYvO2RkR23vVhw6hEiHEI7TFDsE0yTDo8dN_YTFmDAMF5AIfhMnJAxCDGcOBGOSAIee05nA82mWSo2kYWF6ySBEBRwOmYsZhyL0OUd8AeMMM62kFu-nehRtVOJvtPOFjosX2OkYaGCexHYybdnb__hijtowRjzLpodPeViD83z8ej--WlfG8k7g7uOmg |
| linkProvider | Elsevier |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Continuous-time+successive+convexification+for+constrained+trajectory+optimization&rft.jtitle=Automatica+%28Oxford%29&rft.au=Elango%2C+Purnanand&rft.au=Luo%2C+Dayou&rft.au=Kamath%2C+Abhinav+G.&rft.au=Uzun%2C+Samet&rft.date=2025-10-01&rft.issn=0005-1098&rft.volume=180&rft.spage=112464&rft_id=info:doi/10.1016%2Fj.automatica.2025.112464&rft.externalDBID=n%2Fa&rft.externalDocID=10_1016_j_automatica_2025_112464 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0005-1098&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0005-1098&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0005-1098&client=summon |