Convexification in Trajectory Optimization
How lossless convexification, successive convexification, and continuous-time path-constraint formulations expose and reuse convex structure in trajectory optimization.
Blog
Hi there đź‘‹ These are my notes on some interesting topics.
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ADMM and Proportional–Integral Projected Gradient Methods
A derivation and implementation-level comparison of ADMM, PIPGeq, conic PIPG, xPIPG, infeasibility detection, and preconditioning.
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Mehrotra’s Predictor–Corrector Interior-Point Method
How affine prediction, adaptive centering, and a second-order correction turn the KKT equations of a convex QP into a practical solver.
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Model-Based Fixed-Wing Perching
From flight data and system identification to planning, feedback, and a successful perch