{"id":"https://openalex.org/W7133558612","doi":"https://doi.org/10.48550/arxiv.2603.02642","title":"cuNRTO: GPU-Accelerated Nonlinear Robust Trajectory Optimization","display_name":"cuNRTO: GPU-Accelerated Nonlinear Robust Trajectory Optimization","publication_year":2026,"publication_date":"2026-03-03","ids":{"openalex":"https://openalex.org/W7133558612","doi":"https://doi.org/10.48550/arxiv.2603.02642"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.02642","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.02642","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.02642","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128051225","display_name":"Jiawei Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Jiawei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113128917","display_name":"Arshiya Taj Abdul","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abdul, Arshiya Taj","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5102986128","display_name":"Evangelos Theodorou","orcid":"https://orcid.org/0000-0002-8270-2473"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Theodorou, Evangelos A.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.4668000042438507,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.4668000042438507,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10963","display_name":"Advanced Optimization Algorithms Research","score":0.07150000333786011,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.052299998700618744,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.6606000065803528},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6050000190734863},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5582000017166138},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5471000075340271},{"id":"https://openalex.org/keywords/cuda","display_name":"CUDA","score":0.5310999751091003},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.49959999322891235},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.4902999997138977},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4650999903678894},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4343999922275543}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.694100022315979},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.6606000065803528},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6050000190734863},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5582000017166138},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5471000075340271},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5450000166893005},{"id":"https://openalex.org/C2778119891","wikidata":"https://www.wikidata.org/wiki/Q477690","display_name":"CUDA","level":2,"score":0.5310999751091003},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.49959999322891235},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.4902999997138977},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4650999903678894},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4343999922275543},{"id":"https://openalex.org/C193254401","wikidata":"https://www.wikidata.org/wiki/Q2160088","display_name":"Robust optimization","level":2,"score":0.40470001101493835},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.40220001339912415},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4004000127315521},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.38449999690055847},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33799999952316284},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.296999990940094},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.2863999903202057},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.2833999991416931},{"id":"https://openalex.org/C111397411","wikidata":"https://www.wikidata.org/wiki/Q7442977","display_name":"Second-order cone programming","level":4,"score":0.2736999988555908},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.2728999853134155},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2587999999523163},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.25679999589920044},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.02642","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.02642","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.02642","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.02642","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.47932055592536926,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robust":[0,48],"trajectory":[1],"optimization":[2,57],"enables":[3],"autonomous":[4],"systems":[5],"to":[6,28,63,81,117,173],"operate":[7],"safely":[8],"under":[9],"uncertainty":[10],"by":[11,53],"computing":[12],"control":[13],"policies":[14],"that":[15,59,111],"satisfy":[16],"the":[17,45,76,83,92,114,121,134,155],"constraints":[18],"for":[19,141,149],"all":[20],"bounded":[21],"disturbances.":[22],"However,":[23],"these":[24],"problems":[25],"often":[26],"lead":[27],"large":[29],"Second":[30],"Order":[31],"Conic":[32],"Programming":[33],"(SOCP)":[34],"constraints,":[35],"which":[36],"are":[37,67,177],"computationally":[38],"expensive.":[39],"In":[40],"this":[41],"work,":[42],"we":[43,129],"propose":[44],"CUDA":[46,139],"Nonlinear":[47],"Trajectory":[49],"Optimization":[50],"(cuNRTO)":[51],"framework":[52],"introducing":[54],"two":[55],"dynamic":[56],"architectures":[58],"have":[60],"direct":[61,101],"application":[62],"robust":[64],"decision-making":[65],"and":[66,99,145,165],"implemented":[68],"on":[69,162],"CUDA.":[70],"The":[71,103],"first":[72],"architecture,":[73,105],"NRTO-DR,":[74],"leverages":[75],"Douglas-Rachford":[77],"(DR)":[78],"splitting":[79],"method":[80],"solve":[82],"SOCP":[84,97],"inner":[85],"subproblems":[86],"of":[87,125,133,157,171],"NRTO,":[88],"thereby":[89],"significantly":[90],"reducing":[91],"computational":[93],"burden":[94],"through":[95,159],"parallel":[96],"projections":[98],"sparse":[100],"solves.":[102],"second":[104],"NRTO-FullADMM,":[106],"is":[107],"a":[108],"novel":[109],"variant":[110],"further":[112],"exploits":[113],"problem":[115],"structure":[116],"improve":[118],"scalability":[119],"using":[120,137],"Alternating":[122],"Direction":[123],"Method":[124],"Multipliers":[126],"(ADMM).":[127],"Finally,":[128],"provide":[130],"GPU":[131],"implementations":[132],"proposed":[135],"methodologies":[136],"custom":[138],"kernels":[140],"SOC":[142],"projection":[143],"steps":[144],"cuBLAS":[146],"GEMM":[147],"chains":[148],"feedback":[150],"gain":[151],"updates.":[152],"We":[153],"validate":[154],"performance":[156],"cuNRTO":[158],"simulated":[160],"experiments":[161],"unicycle,":[163],"quadcopter,":[164],"Franka":[166],"manipulator":[167],"models,":[168],"demonstrating":[169],"speedups":[170],"up":[172],"139.6$\\times$.":[174],"More":[175],"details":[176],"available":[178],"at":[179],"https://cunrto.github.io.":[180]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-05T00:00:00"}
