# Lecture 10 : Trajectory Optimization

###### tags: `MIT 6.832` `Underactuated Robotics` `Optimal Controls`

These are my paper notes of Lecture %% of the course MIT 6.832 (Underactuated Robotics) of 2019

**Youtube Channel :** [6.832 Underactuated Robotics](https://www.youtube.com/channel/UChfUOAhz7ynELF-s_1LPpWg/)
**Textbook :** [website](http://underactuated.csail.mit.edu/)
**Lecture :** [video](https://youtu.be/uO9EP6FyeAE)

# Table of Contents

[TOC]

## Topics covered
* Trajectory Optimization
* Reason for doing Trajectory Optimization
* Basic Trajectory Optimization
* Discrete Time Case : Linear Systems
* Direct Transcription
* Direct Shooting
* Convertion to Continous Time
* Discrete Time Case : Non-Linear Systems
* Direct Transcription
* Direct Shooting
* Direct Collocation
* Trajectory Motion Planning

## Notes