5,480 research outputs found
Deflation for semismooth equations
Variational inequalities can in general support distinct solutions. In this
paper we study an algorithm for computing distinct solutions of a variational
inequality, without varying the initial guess supplied to the solver. The
central idea is the combination of a semismooth Newton method with a deflation
operator that eliminates known solutions from consideration. Given one root of
a semismooth residual, deflation constructs a new problem for which a
semismooth Newton method will not converge to the known root, even from the
same initial guess. This enables the discovery of other roots. We prove the
effectiveness of the deflation technique under the same assumptions that
guarantee locally superlinear convergence of a semismooth Newton method. We
demonstrate its utility on various finite- and infinite-dimensional examples
drawn from constrained optimization, game theory, economics and solid
mechanics.Comment: 24 pages, 3 figure
Fast Second-order Cone Programming for Safe Mission Planning
This paper considers the problem of safe mission planning of dynamic systems
operating under uncertain environments. Much of the prior work on achieving
robust and safe control requires solving second-order cone programs (SOCP).
Unfortunately, existing general purpose SOCP methods are often infeasible for
real-time robotic tasks due to high memory and computational requirements
imposed by existing general optimization methods. The key contribution of this
paper is a fast and memory-efficient algorithm for SOCP that would enable
robust and safe mission planning on-board robots in real-time. Our algorithm
does not have any external dependency, can efficiently utilize warm start
provided in safe planning settings, and in fact leads to significant speed up
over standard optimization packages (like SDPT3) for even standard SOCP
problems. For example, for a standard quadrotor problem, our method leads to
speedup of 1000x over SDPT3 without any deterioration in the solution quality.
Our method is based on two insights: a) SOCPs can be interpreted as
optimizing a function over a polytope with infinite sides, b) a linear function
can be efficiently optimized over this polytope. We combine the above
observations with a novel utilization of Wolfe's algorithm to obtain an
efficient optimization method that can be easily implemented on small embedded
devices. In addition to the above mentioned algorithm, we also design a
two-level sensing method based on Gaussian Process for complex obstacles with
non-linear boundaries such as a cylinder
Optimal control of Allen-Cahn systems
Optimization problems governed by Allen-Cahn systems including elastic
effects are formulated and first-order necessary optimality conditions are
presented. Smooth as well as obstacle potentials are considered, where the
latter leads to an MPEC. Numerically, for smooth potential the problem is
solved efficiently by the Trust-Region-Newton-Steihaug-cg method. In case of an
obstacle potential first numerical results are presented
Towards parallelizable sampling-based Nonlinear Model Predictive Control
This paper proposes a new sampling-based nonlinear model predictive control
(MPC) algorithm, with a bound on complexity quadratic in the prediction horizon
N and linear in the number of samples. The idea of the proposed algorithm is to
use the sequence of predicted inputs from the previous time step as a warm
start, and to iteratively update this sequence by changing its elements one by
one, starting from the last predicted input and ending with the first predicted
input. This strategy, which resembles the dynamic programming principle, allows
for parallelization up to a certain level and yields a suboptimal nonlinear MPC
algorithm with guaranteed recursive feasibility, stability and improved cost
function at every iteration, which is suitable for real-time implementation.
The complexity of the algorithm per each time step in the prediction horizon
depends only on the horizon, the number of samples and parallel threads, and it
is independent of the measured system state. Comparisons with the fmincon
nonlinear optimization solver on benchmark examples indicate that as the
simulation time progresses, the proposed algorithm converges rapidly to the
"optimal" solution, even when using a small number of samples.Comment: 9 pages, 9 pictures, submitted to IFAC World Congress 201
On multigrid for anisotropic equations and variational inequalities: pricing multi-dimensional European and American options
Partial differential operators in finance often originate in bounded linear stochastic processes. As a consequence, diffusion over these boundaries is zero and the corresponding coefficients vanish. The choice of parameters and stretched grids lead to additional anisotropies in the discrete equations or inequalities. In this study various block smoothers are tested in numerical experiments for equations of Black–Scholes-type (European options) in several dimensions. For linear complementarity problems, as they arise from optimal stopping time problems (American options), the choice of grid transfer is also crucial to preserve complementarity conditions on all grid levels. We adapt the transfer operators at the free boundary in a suitable way and compare with other strategies including cascadic approaches and full approximation schemes
On multigrid for anisotropic equations and variational inequalities: pricing multi-dimensional European and American options
Partial differential operators in finance often originate in bounded linear stochastic processes. As a consequence, diffusion over these boundaries is zero and the corresponding coefficients vanish. The choice of parameters and stretched grids lead to additional anisotropies in the discrete equations or inequalities. In this study various block smoothers are tested in numerical experiments for equations of Black–Scholes-type (European options) in several dimensions. For linear complementarity problems, as they arise from optimal stopping time problems (American options), the choice of grid transfer is also crucial to preserve complementarity conditions on all grid levels. We adapt the transfer operators at the free boundary in a suitable way and compare with other strategies including cascadic approaches and full approximation schemes
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