Sleipnir Group

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

Projects

Sleipnir — Reverse mode autodiff library, interior-point method, and NLP solver DSL for C++23 and Python.

TrajoptLib — Library for generating time-optimal drivetrain trajectories subject to waypoint, kinematic, and dynamic constraints.

Choreo — Time-optimal drivetrain trajectory planner for the FIRST Robotics Competition.