IMPACT is an implicit active-set augmented Lagrangian method for MPCC-based contact-implicit trajectory optimization that reports 2.9x-70x speedups on benchmarks and stationarity guarantees.
Mathematical pro- grams with complementarity constraints: Stationarity, optimality, and sensitivity.Mathematics of Operations Research, 25(1):1–22
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IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization
IMPACT is an implicit active-set augmented Lagrangian method for MPCC-based contact-implicit trajectory optimization that reports 2.9x-70x speedups on benchmarks and stationarity guarantees.