An hp‐adaptive pseudospectral method for solving optimal control problems

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Homotopic approach and pseudospectral method applied jointly to low thrust trajectory optimization (2012, methodology): “With slight modifications to the basic pseudospectral algorithm (adding continuity conditions at the boundary nodes between neighboring subintervals), one can construct the so-called local collocation version of the pseudospectral method [44,46].”
A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles (2016, methodology): “These methods typically have improved convergence rates over basic collocation methods, which is especially true when adaptive methods for selecting collocation points and basis functions are used as in [81].”
An Introduction to Trajectory Optimization: How to Do Your Own Direct Collocation (2017, methodology): “The general approach is to use a relatively lower-order method to obtain an initial solution to the trajectory, and then perform an error analysis [6,16].”