A constrained Riemannian interior point method with closed-form Lie group derivatives performs direct trajectory optimization on SO(3)xR^3 and speeds up single-rigid-body planning.
MPC on manifolds with an application to the control of spacecraft attitude on SO(3)
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Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups
A constrained Riemannian interior point method with closed-form Lie group derivatives performs direct trajectory optimization on SO(3)xR^3 and speeds up single-rigid-body planning.