The content introduces a new symmetric stair preconditioner for parallel trajectory optimization, highlighting its advantages over existing methods. Theoretical properties and practical benefits are discussed, showing significant reductions in condition number and iterations needed for convergence. Numerical results validate the effectiveness of the proposed preconditioner across various trajectory optimization tasks.
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by Xueyi Bu,Bri... klokken arxiv.org 03-05-2024
https://arxiv.org/pdf/2309.06427.pdfDypere Spørsmål