Author

Maximilian Haas-Heger

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Preprint Sep 2026

Square Root Gauss-Newton iLQR

The iterative Linear Quadratic Regulator (iLQR) is a widely used algorithm for nonlinear trajectory optimization. At each iteration, it solves a local linear-quadratic approximation of the problem via dynamic programming, propagating a quadratic cost-to-go function. If the Hessian of the cost-to-go approximation is pos...

Maximilian Haas-Heger, Jur P. van den Berg · 0 citations