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Stagewise implementation of SQPs for OCP

This is the repository that contains the code to generate the benchmarks of [paper]. It includes trajectory optimization scripts and the MPC scipts used in our hardware experiments.

Quick Overview of the code

The two main solver variants used in this repository are available in our optimal control solver library mim_solvers :

  1. Stagewise SQP (SSQP) : solver that is designed to solve unconstrained optimal control problems quickly. The implementation of the algorithm is in python/sqp_ocp/solvers/ssqp.py .
  2. Constrained Stagewise SQP (CSSQP) : solver that can handle constraints for OCPs by exploiting sparsity. The implementation of the algorithm is in python/sqp_ocp/solvers/cssqp.py .

Dependencies

TODO: separate dependencies for hardware experiments and for reproducing the benchmarks

Maintainers

The code is maintained by Avadesh Meduri, Armand Jordana, Sébastien Kleff.

Paper Citation

Please cite this paper as reference for the code and algorithm.