Complementarity constraints are treated as a Lie group under relaxation to enable parameterization that satisfies them by construction in LCQP solvers.
Successive Convexification for Real-Time Six-Degree-of-Freedom Powered Descent Guidance with State-Triggered Constraints,
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Complementarity by Construction: A Lie-Group Approach to Solving Quadratic Programs with Linear Complementarity Constraints
Complementarity constraints are treated as a Lie group under relaxation to enable parameterization that satisfies them by construction in LCQP solvers.