A constrained Riemannian interior point method with closed-form Lie group derivatives performs direct trajectory optimization on SO(3)xR^3 and speeds up single-rigid-body planning.
Discrete-time differential dynamic programming on Lie groups: Derivation, convergence analysis, and numerical results
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Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups
A constrained Riemannian interior point method with closed-form Lie group derivatives performs direct trajectory optimization on SO(3)xR^3 and speeds up single-rigid-body planning.