Update mathematical formulation in README.md for trajectory bundle me…

…thod

README.md

@@ -8,7 +8,7 @@ The *[trajectory bundle method](https://kevintracy.info/ktracy_phd_robotics_2024
 
 $$
 \begin{align*}
-\underset{x, u}{\text{minimize}} \quad & r_N(x_N) + \sum_{k=0}^{N-1} \|{r_k(x_k, u_k)}\|^2 \\
+\underset{x, u}{\text{minimize}} \quad & Q \norm{r_N(x_N)}^2 + \sum_{k=0}^{N-1} R \norm{r_k(x_k, u_k)}^2 \\
 \text{subject to} \quad & x_{k+1} = f(x_k, u_k, \Delta t, t_k) \\
 & c_k(x_k, u_k) \geq 0 \\
 & x_0 = x_{\text{init}} \\