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In 2020, DIDO$^\copyright$ turned 20! The software package emerged in 2001 asa basic, user-friendly MATLAB$^\circledR$ teaching-tool to illustrate thevarious nuances of Pontryagin's Principle but quickly rose to prominence in2007 after NASA announced it had executed a globally optimal maneuver usingDIDO. Since then, the toolbox has grown in applications well beyond itsaerospace roots: from solving problems in quantum control to ushering rapid,nonlinear sensitivity-analysis in designing high-performance automobiles. Mostrecently, it has been used to solve continuous-time traveling-salesmanproblems. Over the last two decades, DIDO's algorithms have evolved from theirsimple use of generic nonlinear programming solvers to a multifacetedengagement of fast spectral Hamiltonian programming techniques. A descriptionof the internal enhancements to DIDO that define its mathematics and algorithmsare described in this paper. A challenge example problem from robotics isincluded to showcase how the latest version of DIDO is capable of escaping thetrappings of a ``local minimum'' that ensnare many other trajectoryoptimization methods.

Enhancements to the DIDO Optimal Control Toolbox