February 05, 2015 / by George Council / In booklist
A direct method for Trajectory Optimization of Rigid Bodies Through Contact
A paper about trajectory optimization in hybrid systems. Interesting, as it relaxes would be naively been consider a core constraint of hybrid systems - the order at which vector fields are switched through. While specific for a rigid body, it provides a scablable numerical tool to optimizie over the 'aggregate' dynamics, rather than find optimal solutions in each vector field with a known ordering
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