Energy-optimal multi-goal motion planning for planar robot manipulators

DOI10.1007/s10957-013-0516-0zbMath1301.49086OpenAlexW2027382562MaRDI QIDQ467470

Ernesto Staffetti, Pierre Bonami, Alberto Olivares

Publication date: 3 November 2014

Published in: Journal of Optimization Theory and Applications (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10957-013-0516-0

zbMATH Keywords

robot manipulatorsmixed-integer nonlinear programmingmixed-integer optimal control problemmulti-goal motion planning

Mathematics Subject Classification ID

Mixed integer programming (90C11) Polyhedral combinatorics, branch-and-bound, branch-and-cut (90C57) Numerical methods based on nonlinear programming (49M37) Artificial intelligence for robotics (68T40)

Related Items (1)

Embedded optimal control of robot manipulators with passive joints

Uses Software

• BARON
• Bonmin
• Ipopt
• SODAS
• minlpBB
• SBB
• OTIS

Cites Work

• Unnamed Item
• Unnamed Item
• Unnamed Item
• Optimal control of switching systems
• An algorithmic framework for convex mixed integer nonlinear programs
• Optimal switching instants for a switched-capacitor DC/DC power converter
• Control of systems integrating logic, dynamics, and constraints
• Convexification and global optimization in continuous and mixed-integer nonlinear programming. Theory, algorithms, software, and applications
• BARON: A general purpose global optimization software package
• Gradient descent approach to optimal mode scheduling in hybrid dynamical systems
• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming
• Dynamic programming for constrained optimal control of discrete-time linear hybrid systems
• Applications of numerical optimal control to nonlinear hybrid systems
• An Automatic Method of Solving Discrete Programming Problems
• Branching and bounds tighteningtechniques for non-convex MINLP
• Continuous representation and control of hybrid systems
• Direct trajectory optimization using nonlinear programming and collocation
• Optimal control of switched systems via non-linear optimization based on direct differentiations of value functions
• Direct optimization using collocation based on high-order Gauss-Lobatto quadrature rules
• Convex dynamic programming for hybrid systems
• Optimal Control of Switched Systems Based on Parameterization of the Switching Instants
• On the Hybrid Optimal Control Problem: Theory and Algorithms
• Planning Algorithms
• A tree-search algorithm for mixed integer programming problems

This page was built for publication: Energy-optimal multi-goal motion planning for planar robot manipulators