PAAMP: Polytopic Action-Set And Motion Planning for Long Horizon Dynamic Motion Planning via Mixed Integer Linear Programming
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| Format: | Preprint |
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2024
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| _version_ | 1866917351707901952 |
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| author | Jaitly, Akshay Farzan, Siavash |
| author_facet | Jaitly, Akshay Farzan, Siavash |
| contents | Optimization methods for long-horizon, dynamically feasible motion planning in robotics tackle challenging non-convex and discontinuous optimization problems. Traditional methods often falter due to the nonlinear characteristics of these problems. We introduce a technique that utilizes learned representations of the system, known as Polytopic Action Sets, to efficiently compute long-horizon trajectories. By employing a suitable sequence of Polytopic Action Sets, we transform the long-horizon dynamically feasible motion planning problem into a Linear Program. This reformulation enables us to address motion planning as a Mixed Integer Linear Program (MILP). We demonstrate the effectiveness of a Polytopic Action-Set and Motion Planning (PAAMP) approach by identifying swing-up motions for a torque-constrained pendulum as fast as 0.75 milliseconds. This approach is well-suited for solving complex motion planning and long-horizon Constraint Satisfaction Problems (CSPs) in dynamic and underactuated systems such as legged and aerial robots. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2403_10924 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | PAAMP: Polytopic Action-Set And Motion Planning for Long Horizon Dynamic Motion Planning via Mixed Integer Linear Programming Jaitly, Akshay Farzan, Siavash Robotics Optimization methods for long-horizon, dynamically feasible motion planning in robotics tackle challenging non-convex and discontinuous optimization problems. Traditional methods often falter due to the nonlinear characteristics of these problems. We introduce a technique that utilizes learned representations of the system, known as Polytopic Action Sets, to efficiently compute long-horizon trajectories. By employing a suitable sequence of Polytopic Action Sets, we transform the long-horizon dynamically feasible motion planning problem into a Linear Program. This reformulation enables us to address motion planning as a Mixed Integer Linear Program (MILP). We demonstrate the effectiveness of a Polytopic Action-Set and Motion Planning (PAAMP) approach by identifying swing-up motions for a torque-constrained pendulum as fast as 0.75 milliseconds. This approach is well-suited for solving complex motion planning and long-horizon Constraint Satisfaction Problems (CSPs) in dynamic and underactuated systems such as legged and aerial robots. |
| title | PAAMP: Polytopic Action-Set And Motion Planning for Long Horizon Dynamic Motion Planning via Mixed Integer Linear Programming |
| topic | Robotics |
| url | https://arxiv.org/abs/2403.10924 |