Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems

Ricard Bordalba, Tobias Schoels, LluĂ­s Ros, Josep M. Porta, Moritz Diehl. Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems. IEEE Transactions on Robotics, 39(1):183-202, February 2023. [doi]

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