Marc Toussaint. A Tutorial on Newton Methods for Constrained Trajectory Optimization and Relations to SLAM, Gaussian Process Smoothing, Optimal Control, and Probabilistic Inference. In Jean-Paul Laumond, Nicolas Mansard, Jean-Bernard Lasserre, editors, Geometric and Numerical Foundations of Movements. Volume 117 of Springer Tracts in Advanced Robotics, pages 361-392, 2017. [doi]
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