Questions tagged [optimization]
The optimization tag has no usage guidance.
18
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11 views
How to find fundamental matrix based on other fundamental matrix and camera movement?
I am trying to speed up some multi-camera system that relies on calculation of fundamental matrices between each camera pair.
Please notice the following is pseudocode. ...
0
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2answers
86 views
Difference between motion-only bundle adjustment and pose-graph optimization
I've been trying to figure out the difference between motion-only bundle adjustment and pose-graph optimization, when talking about systems that only use cameras to estimate motion between frames, but ...
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1answer
30 views
The Optimal Reduction Ratio
Hello everybody. For my robot design, I would like to utilize the most optimal gear ratio that I can use. For that I want to utilize the torque of my motor which is a linear function of rpm. This task ...
1
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1answer
99 views
3D Rigid Body Pose Optimization in flat euclidean space
I am confused about what is the best way to optimize the 3D pose of an object and the best way to parametrize the translation and rotation for optimization in flat euclidean space.
Assume I have a ...
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32 views
Initial Solution Dynamic Optimization
Community,
For mobile robot-trajectory planning i use dynamic optimization for a system with nonholonomic constraints and dynamics together with a cost function. This works somewhat well, howewer the ...
3
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0answers
155 views
Nonlinear Sensor Fusion with Space-Time Finite Element and Static Condensation?
I have recently implemented an algorithm for the nonlinear fusion of GNSS, barometer, magnetometer, accelerometer and gyroscope data.
The algorithm is based on a space-time finite element where the ...
1
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2answers
114 views
Equations of motion in matrix form and energy consumption
I am working on Lagrangian derived high-dimensional motion equations for a robot in matrix form. The structure of such an equation is known:
$M(q)\ddot{q}+C(q,\dot{q})\dot{q}+G(q)=0$
In here, $M(q)$, $...
0
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1answer
40 views
Identifying active PID-Controller parameters
A metric of a physical system is being controlled by a PID controller (in this case a valve controls the temperature of a liquid by mixing hot liquid into a stream of cold liquid). All measurement ...
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35 views
novelty of LQR-RRT* at an article
I am reviewing this article:
LQR-RRT∗: Optimal Sampling-Based Motion Planning with Automatically Derived Extension Heuristics
,Alejandro Perez, Robert Platt Jr., George Konidaris, Leslie Kaelbling and ...
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22 views
Optimization problem of the SPMs design
This article contains section 4. Optimization problem of the SPMs design
https://www.sciencedirect.com/science/article/abs/pii/S0921889014001250
Tell me please, are there any special programs for ...
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0answers
18 views
What's the difference between optimizing a pose graph only once as opposed to optimizing a pose graph whenever loop closures are found?
I am trying to optimize a pose-graph generated through visual odometry with loop closure constraints.
I wanted to know if there are any particular situations where optimizing the graph only once is ...
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0answers
64 views
How to perform a cart-pole swing up task using MPC?
I originally thought this was a really simple problem. However, to my surprise I did not find any resource talking about it, the only thing I found was that using Matlab's nonlinear MPC toolbox you ...
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22 views
Quadrotor Smooth Trajectory optimization
I'm currently following a course on coursera on quadrotors, and i'm currently focusing on the trajectory planning mechanism.
In the course, it's said that one of the criterias when planning a ...
1
vote
1answer
36 views
How to estimate gradient of Jerk
A trajectory is described by a position vector, i.e., traj = $[q_0, q_1,...,q_n]$. The objective is to minimize the jerk of the trajectory.
I am referring to this code to understand how the gradient ...
0
votes
1answer
64 views
Design optimization method using indices
There are several methods like manipulability and conditioning index for design optimization kinematics performance, but these methods rely on the singular values of the jacobian matrix. I described ...
1
vote
1answer
110 views
What is the concepts of submaps in LIDAR based graph slam algorithms?
I have been reading some slam papers recently and many of the papers mention building and performing scan matching on submaps instead of individual poses. Does it mean that a submap is just a single ...
2
votes
2answers
180 views
How to handle landmarks in Bundle Adjustment?
At the moment I try to understand Bundle Adjustment on a level to be able to implement it on my own. The major point I'm still confused at is the management of the landmarks. So, let's think of a few ...
0
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2answers
64 views
Multiple robots performing a set of tasks (Optimization)
Consider a situation where you have a 'm' number of robots and 'n' number of tasks. Each task is at a different location. What optimization algorithm should I use in order to assign a set of tasks to ...
