Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control
SCP implementation for experiments presented in https://arxiv.org/abs/2009.05038.
Example of trajectory for a Dubins car model navigating in a cluttered environment.
This code was tested with Julia 1.4.1. Experiments can be reproduced by running the jupyter notebooks in the root folder:
jupyter notebook
R. Bonalli, T. Lew, and M. Pavone, "Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control," in Arxiv, 2020.