BLAZE generalizes the Affine Geometric Heat Flow trajectory optimizer to arbitrary cost functions and adds a two-phase scheme that starts from constraint-violating guesses, producing feasible trajectories in seconds for high-dimensional robots.
Dy- namic locomotion in the mit cheetah 3 through convex model- predictive control,
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Phasing Through the Flames: Rapid Motion Planning with the AGHF PDE for Arbitrary Objective Functions and Constraints
BLAZE generalizes the Affine Geometric Heat Flow trajectory optimizer to arbitrary cost functions and adds a two-phase scheme that starts from constraint-violating guesses, producing feasible trajectories in seconds for high-dimensional robots.