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Fast UAV Trajectory Optimization Using Bilevel Optimization With Analytical Gradients
2021
IEEE Transactions on robotics
In the article, we present an efficient optimization framework that solves trajectory optimization problems by decoupling state variables from timing variables, thereby decomposing a challenging nonlinear programming (NLP) problem into two easier subproblems. With timing fixed, the state variables can be optimized efficiently using convex optimization, and the timing variables can be optimized in a separate NLP, which forms a bilevel optimization problem. The challenge of obtaining the gradient
doi:10.1109/tro.2021.3076454
fatcat:r3rkn2rgyzh7pp7eowu5wnc7r4