Only when the dimension of is 1, you can choose between the algorithm optim or optimize. In that case, the former is unreliable. If optimize is chosen,"t0" must be 1 2 which represents the interval in which the algorithm seeks the solution. It is also possible to choose the nlminb algorithm. In that case, boundaries for the coefficients can be set by the options upper= and lower=.
The constrOptim is only available for nonlinear models for now. The standard errors may have to be corrected if the estimtes reach the boundary set by ui and ci