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.
LCQPow: a solver for linear complemen- tarity quadratic programs.Mathematical Programming Computation, 17(1):81–109
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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.