An adversarial test reveals that only three of fourteen transcription methods for 6-DOF rocket landing optimization meet validation criteria, with implicit GL2 matching or exceeding explicit RK6 in fidelity and practical performance.
A multiple shooting algorithm for direct solution of optimal control problems
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A multi-timescale MPC for slow-fast systems switches to reduced slow-dynamics models and uses exponentially increasing integration step sizes to deliver up to 10x speed-ups in robotic control simulations.
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Transcription-Induced Failure Modes in 6-DOF Rocket Landing Trajectory Optimization
An adversarial test reveals that only three of fourteen transcription methods for 6-DOF rocket landing optimization meet validation criteria, with implicit GL2 matching or exceeding explicit RK6 in fidelity and practical performance.
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Multi-Timescale Model Predictive Control for Slow-Fast Systems
A multi-timescale MPC for slow-fast systems switches to reduced slow-dynamics models and uses exponentially increasing integration step sizes to deliver up to 10x speed-ups in robotic control simulations.