qpBAMM: a parallelizable ADMM approach for block-structured quadratic programs
Block-structured quadratic programs (QPs) frequently arise in the context of the direct approach to solving optimal control problems. For successful application of direct optimal control algorithms to many real-world problems it is paramount that these QPs can be solved efficiently and reliably. Besides interior-point methods and active-set methods, ADMM-based quadratic programming approaches have gained popularity. … Read more