Constrained Optimization on SO(3), via Pseudospectral Collocation

Pseudospectral collocation is a widely used direct transcription method that discretizes continuous systems with spectral accuracy and high fidelity while requiring relatively few collocation points. The special orthogonal group, SO(3), is both a Lie group and a manifold, and thus demands on-manifold optimization techniques to preserve its geometric structure. Riemannian optimization is enabled by mapping problems to the tangent space through equivariant transformations, with the Cayley map prov