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.
Consensus complementarity control for multi-contact mpc.IEEE Transactions on Robotics
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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.
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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.