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.
Model predictive control design: New trends and tools,
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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.