César E. Ramos Chuquiure

Bring the Heat: Rapid Trajectory Optimization With Pseudospectral Techniques and the Affine Geometric Heat Flow Equation

Generating optimal trajectories for high-dimensional robotic systems in a time-efficient manner while adhering to constraints is a challenging task. This letter introduces PHLAME, which applies pseudospectral collocation and spatial vector algebra to efficiently solve the Affine Geometric Heat Flow