A convex dual formulation of hierarchical least-squares programming with equality constraints, plus an ADMM solver that eliminates primal-dual variables from the matrix factorization.
A weighted method for fast resolution of strictly hi- erarchical robot task specifications using exact penalty functions
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Dual Hierarchical Least-Squares Programming with Equality Constraints
A convex dual formulation of hierarchical least-squares programming with equality constraints, plus an ADMM solver that eliminates primal-dual variables from the matrix factorization.