# Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems

> Research article (IEEE Transactions on Robotics, 2022) · cited 41× · AI/ML

**Wikidata**: [openalex:W4295832068](https://www.wikidata.org/wiki/openalex:W4295832068)  
**Source**: https://4ort.xyz/entity/direct-collocation-methods-for-trajectory-optimization-in-constrained-robotic-systems