Nonlinear programming

CasADi: a software framework for nonlinear optimization and optimal control

Joel A.E. Andersson, Joris Gillis, Greg Horn, James B. Rawlings, Moritz Diehl

Citations: 3693 • 2018

Applications of second-order cone programming

Miguel Sousa Lobo, Lieven Vandenberghe, Stephen Boyd, Hervé Lebret

Citations: 2415 • 1998

Keyframe-based visual–inertial odometry using nonlinear optimization

Stefan Leutenegger, Simon Lynen, Michael Bosse, Roland Siegwart, Paul Furgale

Citations: 1697 • 2014

Practical Methods for Optimal Control using Nonlinear Programming

JT Betts, Ilya Kolmanovsky

Citations: 1462 • 2002

Semi-Infinite Programming: Theory, Methods, and Applications

R. Hettich, K. O. Kortanek

Citations: 1017 • 1993

A combined optimization method for solving the inverse kinematics problems of mechanical manipulators

L.-C.T. Wang, C.C. Chen

Citations: 483 • 1991

Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization

Alexander Winkler, C. Dario Bellicoso, Marco Hutter, Jonas Buchli

Citations: 452 • 2018

Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots

Thomas M. Howard, Alonzo Kelly

Citations: 368 • 2007

Optimal Hand-Eye Calibration

Klaus H. Strobl, Gerd Hirzinger

Citations: 299 • 2006

3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics

Ayonga Hereid, Eric Cousineau, Christian Hubicki, Aaron D. Ames

Citations: 206 • 2016

ALTRO: A Fast Solver for Constrained Trajectory Optimization

Taylor A. Howell, Brian E. Jackson, Zachary Manchester

Citations: 177 • 2019

Generation of whole-body optimal dynamic multi-contact motions

Sébastien Lengagne, Joris Vaillant, Eiichi Yoshida, Abderrahmane Kheddar

Citations: 137 • 2013

Modeling and Optimization of Energy Consumption in Cooperative Multi-Robot Systems

Alberto Vergnano, Carl Thorstensson, Bengt Lennartson, Petter Falkman, Marcello Pellicciari, Francesco Leali, Stephan Biller

Citations: 127 • 2012

Semi-infinite programming : recent advances

Miguel Á. Goberna, Marco A. López

Citations: 123 • 2001

A Method for Optimal Synthesis of Manipulation Robot Trajectories

M. Vukobratovic ́, M. Kirc ́anski

Citations: 107 • 1982

Direct Trajectory Optimization of Rigid Body Dynamical Systems through Contact

Michael Posa, Russ Tedrake

Citations: 97 • 2013

System identification of the nonlinear residual errors of an industrial robot using massive measurements

Gang Zhao, Pengfei Zhang, Guocai Ma, Wenlei Xiao

Citations: 91 • 2019

A Real-Time Approach for Chance-Constrained Motion Planning With Dynamic Obstacles

Manuel Castillo-López, Philippe Ludivig, Seyed Amin Sajadi-Alamdari, José Luis Sánchez-López, Miguel Olivares-Mendez, Holger Voos

Citations: 87 • 2020

TAMOLS: Terrain-Aware Motion Optimization for Legged Systems

Fabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter

Citations: 85 • 2022

Hand-eye calibration using convex optimization

Zijian Zhao

Citations: 81 • 2011