A Hybrid Differential Dynamic Programming Algorithm for Constrained Optimal Control Problems. Part 1: Theory. - Gregory Lantoine; Ryan P. Russell (J. Optim. Theory Appl., 2012)

A Hybrid Differential Dynamic Programming Algorithm for Constrained Optimal Control Problems. Part 2: Application. - Gregory Lantoine; Ryan P. Russell (J. Optim. Theory Appl., 2012)

Using Multicomplex Variables for Automatic Computation of High-Order Derivatives. - Gregory Lantoine; Ryan P. Russell; Thierry Dargent (ACM Trans. Math. Softw., 2012)

Unconstrained Direct Optimization of Spacecraft Trajectories Using Many Embedded Lambert Problems. - David Ottesen; Ryan P. Russell (J. Optim. Theory Appl., 2021)

Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. - Shubham Singh; Ryan P. Russell; Patrick M. Wensing (IROS, 2022)

Details of Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. - Shubham Singh; Ryan P. Russell; Patrick M. Wensing (CoRR, 2022)

Closed-Form Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics. - Shubham Singh; Ryan P. Russell; Patrick M. Wensing (CoRR, 2022)

Efficient Analytical Derivatives of Rigid-Body Dynamics Using Spatial Vector Algebra. - Shubham Singh; Ryan P. Russell; Patrick M. Wensing (IEEE Robotics Autom. Lett., 2022)

Analytical Second-Order Derivatives of Rigid-Body Contact Dynamics: Application to Multi-Shooting DDP. - Shubham Singh; Ryan P. Russell; Patrick M. Wensing (Humanoids, 2023)

On Second-Order Derivatives of Rigid-Body Dynamics: Theory & Implementation. - Shubham Singh; Ryan P. Russell; Patrick M. Wensing (CoRR, 2023)

Multi-Shooting Differential Dynamic Programming for Hybrid Systems using Analytical Derivatives. - Shubham Singh; Ryan P. Russell; Patrick M. Wensing (CoRR, 2023)

On Second-Order Derivatives of Rigid-Body Dynamics: Theory and Implementation. - Shubham Singh; Ryan P. Russell; Patrick M. Wensing (IEEE Trans. Robotics, 2024)