Barrier Method for Inequality Constrained Factor Graph Optimization with Application to Model Predictive Control
Fuente:
arXiv
Salvato in:
| Autori principali: | , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2025
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866915348361510912 |
|---|---|
| author | Abdelkarim, Anas Voos, Holger Görges, Daniel |
| author_facet | Abdelkarim, Anas Voos, Holger Görges, Daniel |
| contents | Factor graphs have demonstrated remarkable efficiency for robotic perception tasks, particularly in localization and mapping applications. However, their application to optimal control problems -- especially Model Predictive Control (MPC) -- has remained limited due to fundamental challenges in constraint handling. This paper presents a novel integration of the Barrier Interior Point Method (BIPM) with factor graphs, implemented as an open-source extension to the widely adopted g2o framework. Our approach introduces specialized inequality factor nodes that encode logarithmic barrier functions, thereby overcoming the quadratic-form limitations of conventional factor graph formulations. To the best of our knowledge, this is the first g2o-based implementation capable of efficiently handling both equality and inequality constraints within a unified optimization backend. We validate the method through a multi-objective adaptive cruise control application for autonomous vehicles. Benchmark comparisons with state-of-the-art constraint-handling techniques demonstrate faster convergence and improved computational efficiency. (Code repository: https://github.com/snt-arg/bipm_g2o) |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_14341 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Barrier Method for Inequality Constrained Factor Graph Optimization with Application to Model Predictive Control Abdelkarim, Anas Voos, Holger Görges, Daniel Robotics Systems and Control Factor graphs have demonstrated remarkable efficiency for robotic perception tasks, particularly in localization and mapping applications. However, their application to optimal control problems -- especially Model Predictive Control (MPC) -- has remained limited due to fundamental challenges in constraint handling. This paper presents a novel integration of the Barrier Interior Point Method (BIPM) with factor graphs, implemented as an open-source extension to the widely adopted g2o framework. Our approach introduces specialized inequality factor nodes that encode logarithmic barrier functions, thereby overcoming the quadratic-form limitations of conventional factor graph formulations. To the best of our knowledge, this is the first g2o-based implementation capable of efficiently handling both equality and inequality constraints within a unified optimization backend. We validate the method through a multi-objective adaptive cruise control application for autonomous vehicles. Benchmark comparisons with state-of-the-art constraint-handling techniques demonstrate faster convergence and improved computational efficiency. (Code repository: https://github.com/snt-arg/bipm_g2o) |
| title | Barrier Method for Inequality Constrained Factor Graph Optimization with Application to Model Predictive Control |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2506.14341 |