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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2501.17349 |
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| _version_ | 1866917069926170624 |
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| author | Sovukluk, Sait Ott, Christian |
| author_facet | Sovukluk, Sait Ott, Christian |
| contents | This paper presents a numerical function optimization framework designed for constrained optimization problems in robotics. The tool is designed with real-time considerations and is suitable for online trajectory and control input optimization problems. The proposed framework does not require any analytical representation of the problem and works with constrained block-box optimization functions. The method combines first-order gradient-based line search algorithms with constraint prioritization through nullspace projections onto constraint Jacobian space. The tool is implemented in C++ and provided online for community use, along with some numerical and robotic example implementations presented in this paper. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_17349 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | An Efficient Numerical Function Optimization Framework for Constrained Nonlinear Robotic Problems Sovukluk, Sait Ott, Christian Robotics Optimization and Control This paper presents a numerical function optimization framework designed for constrained optimization problems in robotics. The tool is designed with real-time considerations and is suitable for online trajectory and control input optimization problems. The proposed framework does not require any analytical representation of the problem and works with constrained block-box optimization functions. The method combines first-order gradient-based line search algorithms with constraint prioritization through nullspace projections onto constraint Jacobian space. The tool is implemented in C++ and provided online for community use, along with some numerical and robotic example implementations presented in this paper. |
| title | An Efficient Numerical Function Optimization Framework for Constrained Nonlinear Robotic Problems |
| topic | Robotics Optimization and Control |
| url | https://arxiv.org/abs/2501.17349 |