Mohamed Abou-Taleb went to the 7th Annual Learning for Dynamics and Control Conference (L4DC) in Ann Arbor to present the paper "Koopman Based Trajectory Optimization with Mixed Boundaries".
The paper leverages the Koopman operator framework to tackle trajectory optimization with mixed boundary constraints. By reformulating the problem as a bilevel optimization, the high-dimensional lower-level problem is convexified, improving solution efficiency. The approach is demonstrated on a pendulum and a compass-gait walker.