This report is an introduction to transcription methods for trajectory optimization techniques. The first few sections describe the two classes of transcription methods (shooting \& simultaneous) that are used to convert the trajectory optimization problem into a general constrained optimization form. The middle of the report discusses a few extensions to the basic methods, including how to deal with hybrid systems (such as walking robots). The final section goes over a variety of implementation details.
@article{arxiv.1707.00284,
title = {Transcription Methods for Trajectory Optimization: a beginners tutorial},
author = {Matthew P. Kelly},
journal= {arXiv preprint arXiv:1707.00284},
year = {2017}
}