Abstract: In this letter, we present qpSWIFT, a real-time quadratic program (QP) solver. Motivated by the need for a robust embedded QP solver in robotic applications, qpSWIFT employs standard ...
An Iterative Quadratic Method for General-Sum Differential Games with Feedback Linearizable Dynamics
Abstract: Iterative linear-quadratic (ILQ) methods are widely used in the nonlinear optimal control community. Recent work has applied similar methodology in the setting of multi-player general-sum ...
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