]> 2026-04-15T23:27:58+00:00 Inversion Based Trajectory Optimization 0 en A computationally efficient technique for the numerical solution of optimal control problems is discussed. This method utilizes tools from nonlinear control theory to transform the optimal control problem to a new, lower dimensional set of coordinates. It is hypothesized that maximizing the relative degree is directly related to minimizing the computation time. Firm evidence of this hypothesis is given. Results are presented using the Nonlinear Trajectory Generation (NTG) software package. Nicolas Petit, Mark B. Milam and Richard M. Murray 2000k Submitted, IFAC Symposium on Nonlinear Control Systems Design (NOLCOS) pmm01-nolcos Conference Paper 2016-05-15T06:19:21Z 2457523.7634375 Inversion Based Trajectory Optimization Title 102 en Title