Questions tagged [optimization]
The optimization tag has no usage guidance.
13
questions
3
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0answers
83 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
vote
1answer
60 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
votes
1answer
18 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 ...
0
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0answers
31 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 ...
0
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0answers
21 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 ...
0
votes
0answers
15 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 ...
1
vote
0answers
25 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 ...
1
vote
0answers
20 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
33 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
53 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
85 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
136 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
votes
2answers
62 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 ...
