Questions tagged [optimization]

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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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28 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 ...
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149 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 ...
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2answers
100 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, $M(q)$, $...
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29 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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33 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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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 ...
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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 ...
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31 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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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 ...
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1answer
35 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 ...
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1answer
57 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 ...
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1answer
89 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 ...
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148 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 ...
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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 ...