Randomized Quadratic Programming with Applications to Rigid Body Contact

@inproceedings{Kaufman2008RandomizedQP,
  title={Randomized Quadratic Programming with Applications to Rigid Body Contact},
  author={Danny M. Kaufman and Dinesh K. Pai},
  year={2008}
}
Motivated by applications in rigid body contact simulation we develop a numerically robust, randomized Quadratic Programming algorithm. We show that the resulting solver remains robust under highly constrained and redundant conditions, while also detecting infeasibility conditions. Its expected complexity is linear in the number constraints imposed and our experiments show that it performs well in practice for low-dimensional examples. 

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