5

Can you set up the problem so that the quantities you care about (e.g. power) are more explicitly represented? Reasoning physically, where could the power go? Accelerating masses, including rotation Pushing against gravity, electromagnetics, other potentials Stretching springs and whatever Dissipation through friction You say "optimize power ...


2

The code is computing the gradient of the cost, which is jerk squared, not the gradient of the jerk. The comment there is misleading! As written, it seems the code is implementing the chain rule of $$ c = j^\top j $$ $$ \frac{\partial c}{\partial q} = 2j\frac{\partial j}{\partial q} $$ $2j$ is set to temp_j and you can see how the partial of jerk w.r.t q is ...


2

The word is exactly as it sounds. It is a submap of a larger map. Essentially a large map is broken up into smaller submaps in order to improve the computational complexity. In the reference you give the map is the accumulated pointcloud. This giant pointcloud is then broken up into smaller pointclouds(the submaps*). These submaps are then used to ...


2

First, you need to get rid of the damping matrix C as it transforms kinetic energy into heat. Second, you should make the mass matrix as small as possible. (lightweight construction). After that you can think about the best way to distribute the mass that you cant get rid off by taking the desired movements into account.


2

Try looking to Linear Integer Programming LIP where you are doing optimization by maximizing task allocation or Utility function at the same time minimizing distance and energy constraints. You will have to formulate the set of equations and use available LIP solvers.


1

This seems like a mTSP (multi traveling salesman problem). Summary: The Multiple Traveling Salesman Problem (mTSP) is a generalization of the Traveling Salesman Problem (TSP) in which more than one salesman is allowed. Given a set of cities, one depot where m salesmen are located, and a cost metric, the objective of the mTSP is to determine a tour for ...


1

First thing to do is pick your World frame. This is your main frame where the 3D coordinates of your points and poses of your cameras will be. Typically the origin of this world frame is the pose of your first camera. You then triangulate every point with all of the cameras that see it. A rough guess can be computed with an algorithm like DLT, and then ...


Only top voted, non community-wiki answers of a minimum length are eligible