TOP uses consensus ADMM with local closed-form updates so that one optimization step costs the same regardless of how many pieces the trajectory is split into, enabling very fast large-scale trajectory optimization.
Minimum snap trajectory generation and control for quadrotors,
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TOP: Trajectory Optimization via Parallel Optimization towards Constant Time Complexity
TOP uses consensus ADMM with local closed-form updates so that one optimization step costs the same regardless of how many pieces the trajectory is split into, enabling very fast large-scale trajectory optimization.