Tutorial - TrajectoryOptimization.jl - Brian Jackson

The Robotic Exploration Lab at Carnegie Mellon University has developed a suite of tools in the Julia programming language for setting up and solving trajectory optimization problems. Their core solver, ALTRO, uses iterative LQR (iLQR) with an augmented Lagrangian method (ALM) for handling general path constraints, coupled with an active-set method for solution polishing. Despite being written in a high-level programming language, ALTRO demonstrates impressive performance on convex programs, second-order cone programs, and general nonlinear trajectory optimization problems. It also natively handles 3D rotations, performing the optimization on the Lie algebra and using unit quaternions as the global parameterization.