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Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent.
Paarth Shah
Avadesh Meduri
Wolfgang Merkt
Majid Khadiv
Ioannis Havoutis
Ludovic Righetti
Published in:
IROS (2021)
Keyphrases
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convex optimization
interior point methods
low rank
convex optimization problems
convex relaxation
dynamical systems
total variation
primal dual
convex formulation
norm minimization
operator splitting
multiresolution
convex constraints
semidefinite program
alternating direction method of multipliers