14,971 research outputs found
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach
We introduce a real-time, constrained, nonlinear Model Predictive Control for
the motion planning of legged robots. The proposed approach uses a constrained
optimal control algorithm known as SLQ. We improve the efficiency of this
algorithm by introducing a multi-processing scheme for estimating value
function in its backward pass. This pass has been often calculated as a single
process. This parallel SLQ algorithm can optimize longer time horizons without
proportional increase in its computation time. Thus, our MPC algorithm can
generate optimized trajectories for the next few phases of the motion within
only a few milliseconds. This outperforms the state of the art by at least one
order of magnitude. The performance of the approach is validated on a quadruped
robot for generating dynamic gaits such as trotting.Comment: 8 page
A hierarchical time-splitting approach for solving finite-time optimal control problems
We present a hierarchical computation approach for solving finite-time
optimal control problems using operator splitting methods. The first split is
performed over the time index and leads to as many subproblems as the length of
the prediction horizon. Each subproblem is solved in parallel and further split
into three by separating the objective from the equality and inequality
constraints respectively, such that an analytic solution can be achieved for
each subproblem. The proposed solution approach leads to a nested decomposition
scheme, which is highly parallelizable. We present a numerical comparison with
standard state-of-the-art solvers, and provide analytic solutions to several
elements of the algorithm, which enhances its applicability in fast large-scale
applications
State-of-the-art in aerodynamic shape optimisation methods
Aerodynamic optimisation has become an indispensable component for any aerodynamic design over the past 60 years, with applications to aircraft, cars, trains, bridges, wind turbines, internal pipe flows, and cavities, among others, and is thus relevant in many facets of technology. With advancements in computational power, automated design optimisation procedures have become more competent, however, there is an ambiguity and bias throughout the literature with regards to relative performance of optimisation architectures and employed algorithms. This paper provides a well-balanced critical review of the dominant optimisation approaches that have been integrated with aerodynamic theory for the purpose of shape optimisation. A total of 229 papers, published in more than 120 journals and conference proceedings, have been classified into 6 different optimisation algorithm approaches. The material cited includes some of the most well-established authors and publications in the field of aerodynamic optimisation. This paper aims to eliminate bias toward certain algorithms by analysing the limitations, drawbacks, and the benefits of the most utilised optimisation approaches. This review provides comprehensive but straightforward insight for non-specialists and reference detailing the current state for specialist practitioners
Algorithms for the continuous nonlinear resource allocation problem---new implementations and numerical studies
Patriksson (2008) provided a then up-to-date survey on the
continuous,separable, differentiable and convex resource allocation problem
with a single resource constraint. Since the publication of that paper the
interest in the problem has grown: several new applications have arisen where
the problem at hand constitutes a subproblem, and several new algorithms have
been developed for its efficient solution. This paper therefore serves three
purposes. First, it provides an up-to-date extension of the survey of the
literature of the field, complementing the survey in Patriksson (2008) with
more then 20 books and articles. Second, it contributes improvements of some of
these algorithms, in particular with an improvement of the pegging (that is,
variable fixing) process in the relaxation algorithm, and an improved means to
evaluate subsolutions. Third, it numerically evaluates several relaxation
(primal) and breakpoint (dual) algorithms, incorporating a variety of pegging
strategies, as well as a quasi-Newton method. Our conclusion is that our
modification of the relaxation algorithm performs the best. At least for
problem sizes up to 30 million variables the practical time complexity for the
breakpoint and relaxation algorithms is linear
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