Hi all,
i was curious how sqp_rti algorithm works? Is there a paper that discuss in detail how does it work? or does anyone have any related material to that.
Hi 
the main idea of the real-time iteration (RTI) is to perform a single SQP iteration, i.e. solve only one QP, and to split the necessary computations in two phases: a preparation phase (everything that can be done before the updated value for the initial state is known) and a feedback phase. This way feedback delays are minimized.
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Best, Katrin
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One more tutorial-style paper on RTI is this one: