Proposes constraint manifolds with corners as a new topological structure for mixed-constraint optimization in robotics, enabling direct unconstrained optimization on the feasible set.
An introduction to optimization on smooth manifolds
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CMC-Opt: Constraint Manifold with Corners for Inequality-Constrained Optimization
Proposes constraint manifolds with corners as a new topological structure for mixed-constraint optimization in robotics, enabling direct unconstrained optimization on the feasible set.