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...

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Veröffentlicht in:	Automatica (Oxford) Jg. 180; S. 112464
Hauptverfasser:	Elango, Purnanand, Luo, Dayou, Kamath, Abhinav G., Uzun, Samet, Kim, Taewan, Açıkmeşe, Behçet
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Elsevier Ltd 01.10.2025
Schlagworte:	Continuous-time constraint satisfaction Optimal control Sequential convex programming Trajectory optimization Sequential convex programming Continuous-time constraint satisfaction Optimal control Trajectory optimization
ISSN:	0005-1098
Online-Zugang:	Volltext
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