ALSPG combines spectral projected gradient descent, an augmented Lagrangian, and geometric projections to solve constrained robot motion planning problems faster than common second-order solvers.
Finding locally optimal, collision-free trajectories with sequential convex optimization
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Efficient and Real-Time Motion Planning for Robotics Using Projection-Based Optimization
ALSPG combines spectral projected gradient descent, an augmented Lagrangian, and geometric projections to solve constrained robot motion planning problems faster than common second-order solvers.