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Questions tagged [optimization]

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What would be a good objective function to tune a PID controller in a 6 DOF robot manipulator?

As stated above, I am currently trying to tune the PID in a controller for a robot arm (the input of the plant is torque, and the output is its state). I first practiced with a single joint (1 DOF, a ...
Offel21's user avatar
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How should I optimize a PID in Webots correctly?

As stated above, I need to optimize the PID gains (the feedback) in the torque controller for trajectory tracking I am currently doing. This is what I have done until now: Begin simple, with just one ...
Offel21's user avatar
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2 answers
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Can we apply LQR control in high dimension - like to a full robot?

I have been watching Russ Tedrake's videos on robotics, which are wonderful. But I am confused by one thing. So he talks about the application of LQR control and its ability to efficiently stabilize ...
krishnab's user avatar
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MA57 Installation for Ipopt C++ library (x86_64, Ubuntu 9.4.0-1ubuntu1~20.04.2)

I've been working with Ipopt C++ library optimizer regarding trajectory optimizing tasks. By default the ipopt c++ uses MA27 solver (which is free for usage). I've found out that the best Licensed ...
Vladimir's user avatar
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1 answer
63 views

Is there any way to know if tmux is slow for a multi-robot experiment and if there are alternatives?

I'm trying to run a multi-robot SLAM experiment, which is similar to that of Kimera-Multi, that uses tmux to run numerous shell and ROS commands. I'm on ubuntu 20.04 and ROS noetic. I'm running on an ...
GShim23's user avatar
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0 answers
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Pose Graph SLAM Frontend and Backend confusion

I have confusion about constructing the graph for pose graph SLAM. What I understood, there are two types of edges (i.e. constraints): Edge/Constraint between two consecutive poses Edge/Constraint ...
Cluv's user avatar
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1 vote
0 answers
54 views

Designing Equality Constraints for an MPC Controller

I'm trying to implement a MPC controller for a quadruple tank process as shown below. My system has the following constraints: The voltages applied to the two pumps are non-negative and cannot be ...
gcantoni's user avatar
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2 votes
0 answers
85 views

Differentiating correspondences in ICP objective function?

The Iterative Closest Point (ICP) algorithm usually alternates between two steps: Point correspondence finding Nonlinear least squares optimization of ICP objective function given those ...
jordi's user avatar
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1 answer
61 views

How to do path planning using only a fixed number of points?

I have a vehicle with cameras to detect different colored cones. I want to generate a drivable path based on the location of the detected cones.The number of detected cones varies, as it depends on ...
user27771's user avatar
1 vote
1 answer
181 views

How to solve this basic dynamics/inverse kinematics problem

Suppose I have a 6-DOF robot arm with revolute joints whose tooltip is at some position $\bf{r_0}$ and I want to move it through some trajectory ${\bf r}(t)$. For simplicity, assume there are just 2 ...
guero64's user avatar
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1 answer
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Solving inverse kinematics with non-linear optimization libraries

Is it a good idea to solve inverse kinematics with non-linear optimization libraries such as Ceres? I've seen examples of Ceres being used to solve IK and it provides elegant, concise solution. But my ...
mdemirst's user avatar
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0 answers
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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. ...
Gulzar's user avatar
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1 vote
3 answers
2k 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 ...
indigoblue's user avatar
0 votes
1 answer
82 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 ...
Baturay Çoksaygılı's user avatar
1 vote
2 answers
387 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 ...
NMme's user avatar
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3 votes
0 answers
322 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 ...
Emil's user avatar
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1 vote
2 answers
183 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, $M(q)$, $...
ayr's user avatar
  • 183
0 votes
1 answer
62 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 ...
cheesus's user avatar
  • 101
1 vote
0 answers
268 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 ...
QualsPassed's user avatar
4 votes
2 answers
1k views

What's the difference between factor graph optimization and bundle adjustment?

I see that in SLAM literature, factor graph optimization is frequently used. While in Structure from Motion (SfM) literature , they usually use bundle adjustment. What's the difference between the two ...
zhouch's user avatar
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1 vote
0 answers
48 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 ...
Mssm's user avatar
  • 147
1 vote
1 answer
47 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 ...
GPrathap's user avatar
  • 137
0 votes
1 answer
84 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 ...
hamedmh's user avatar
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1 vote
1 answer
351 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 ...
Zain's user avatar
  • 71
2 votes
2 answers
414 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 ...
MattDom's user avatar
  • 33
0 votes
1 answer
42 views

How to optimize service calls

I'm trying to optimize my code so I was measuring how long different parts of ROS process take. Specifically ...
user avatar
0 votes
2 answers
66 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 ...
Goalscorer's user avatar
0 votes
1 answer
3 views

How to define a cost function for the 'general state cost integral' optimization objective of OMPL through MoveIt?

Hi, I'm relatively new to OMPL and MoveIt, but I'm fairly certain that I understand the capabilities of OMPL and that there are no tutorials for this. Maybe I'm just missing something. I'm hoping ...
user avatar
0 votes
1 answer
29 views

How can I add C++ optimization flags to ROS

I am running an opencv code on ROS and I really need to turn on the -O3 optimization flag. Originally posted by adnansousi on ROS Answers with karma: 3 on 2015-07-15 Post score: 0
user avatar
0 votes
1 answer
14 views

ros::Time.now().toSec() optimized out

Dear all, Using ROS Hydro on Ubuntu 12.04. I am trying to see the result of ros::Time.now().toSec() while debugging a node, but the debugger says the value is optimized out. I know that normally we ...
user avatar
0 votes
1 answer
1 view

Gains optimization package?

Hi all, I am looking for a package allowing to optimize gains for a given robot (or a simulated robot) - such as low-level PID gains. The idea is to provide init gains to the package and a cost ...
user avatar
0 votes
1 answer
2 views

different result in binary and source of octomap_server

Hi all, i have a problem, may be someone knows about it, when i install binary octomap_server and run it the result map is excellent but when i use from source and compile it in catkin the result is ...
user avatar
0 votes
1 answer
10 views

Optimize control loop?

Hi there! I'm constantly getting warnings like Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.2028 seconds using move_base to drive ...
user avatar
0 votes
1 answer
2 views

Build, compress, optimize tool for ros+linux to OS dedicated

Hello, It will be possible to have? or is someone work in? a tool to build a small app+OS dedicated, based on our stack. I mean, that compress and optimize: the sources files of our app build on top ...
user avatar
0 votes
1 answer
1 view

Does ROS optimize around unheard messages?

I'm running ROS on a system with low resources. If I have a publisher streaming messages to a ROS topic (here, a topic which carries sonar readings), but the topic has no listeners, does ROS handle ...
user avatar
0 votes
1 answer
6 views

how to recompile cv_bridge w/o optimization

Hi All, For some particular reason, I need to step into /opt/ros/electric/stacks/vision_opencv/cv_bridge/src/cv_bridge.cpp for debugging purpose, and I want to ...
user avatar
0 votes
1 answer
32 views

How to fill a sensor_msgs/image without a memcpy?

Hi, i am writing a ros driver for our deepsea tyzx stereo camera. I try to adapt the driver for firewire camera, and i need an advice for this part of the code : ...
user avatar