A barrier interior-point method is encoded as new inequality factor nodes in the g2o factor-graph solver, enabling MPC with inequality constraints in a unified optimization backend.
Factor graphs for robot perception,
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
citation-role summary
background 1
citation-polarity summary
fields
cs.RO 1years
2025 1verdicts
CONDITIONAL 1roles
background 1polarities
background 1representative citing papers
citing papers explorer
-
Barrier Method for Inequality Constrained Factor Graph Optimization with Application to Model Predictive Control
A barrier interior-point method is encoded as new inequality factor nodes in the g2o factor-graph solver, enabling MPC with inequality constraints in a unified optimization backend.