I’m just amazed with the quality of their controls systems, understated in the video, but which are absolutely critical to success.
For more technical details, see:
B. Açıkmeşe, J. M. Carson III, L. Blackmore, “Lossless convexification of nonconvex control bound and pointing constraints of the soft landing optimal control problem“, IEEE Transactions on Control Systems Technology, 21(6), November 2013.