Title: Smotth trajectory generation 
Supervisor: Beatriz Ferreira

Abstract: Imagine a robot whose task is to pass through specific points in space (called waypoints). Conventional approaches would use a spline model to generate a trajectory and then design a control system to make the robot pass as close as possible to the desired waypoints. This project addresses trajectory generation approach, formulating it as an optimization problem, that directly uses the dynamical model of the system to generate a smooth control signal that takes the robot's trajectory through the specified waypoints.