Sleipnir Group

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Developing and maintaining the Sleipnir constrained optimization problem solver and tools based on it.

Projects

Sleipnir — A linearity-exploiting sparse nonlinear constrained optimization problem solver that uses the interior-point method.

TrajoptLib — This library is used to generate time-optimal trajectories for FRC robots.

Choreo — A graphical tool for planning time-optimized trajectories for autonomous mobile robots in the FIRST Robotics Competition.