IMPACT applies an implicit active-set augmented Lagrangian to MPCC-based contact-implicit trajectory optimization, achieving 2.9x-70x speedups on benchmarks and successful real-robot hardware results.
Consensus complementarity control for multi-contact mpc.IEEE Transactions on Robotics
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SQPCC converges locally to S-stationary points of MPCCs under weaker second-order sufficient conditions, without upper-level strict complementarity, and with active-set identification results.
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IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization
IMPACT applies an implicit active-set augmented Lagrangian to MPCC-based contact-implicit trajectory optimization, achieving 2.9x-70x speedups on benchmarks and successful real-robot hardware results.
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Local Convergence Results for Sequential Quadratic Programming with Complementarity Constraints
SQPCC converges locally to S-stationary points of MPCCs under weaker second-order sufficient conditions, without upper-level strict complementarity, and with active-set identification results.