A Duality Approach to Error Estimation for Variational Inequalities

Motivated by problems in contact mechanics, we propose a duality approach for computing approximations and associated a posteriori error bounds to solutions of variational inequalities of the first kind. The proposed approach improves upon existing methods introduced in the context of the reduced basis method in two ways. First, it provides sharp a posteriori error bounds which mimic the rate of convergence of the RB approximation. Second, it enables a full offline-online computational decomposition in which the online cost is completely independent of the dimension of the original (high-dimensional) problem. Numerical results comparing the performance of the proposed and existing approaches illustrate the superiority of the duality approach in cases where the dimension of the full problem is high.Comment: 21 pages, 8 figure

Preconditioning for Allen-Cahn variational inequalities with non-local constraints

The solution of Allen-Cahn variational inequalities with mass constraints is of interest in many applications. This problem can be solved both in its scalar and vector-valued form as a PDE-constrained optimization problem by means of a primal-dual active set method. At the heart of this method lies the solution of linear systems in saddle point form. In this paper we propose the use of Krylov-subspace solvers and suitable preconditioners for the saddle point systems. Numerical results illustrate the competitiveness of this approach

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

Preconditioning for Allen-Cahn variational inequalities with non-local constraints

The solution of Allen-Cahn variational inequalities with mass constraints is of interest in many applications. This problem can be solved both in its scalar and vector-valued form as a PDE-constrained optimization problem by means of a primal-dual active set method. At the heart of this method lies the solution of linear systems in saddle point form. In this paper we propose the use of Krylov-subspace solvers and suitable preconditioners for the saddle point systems. Numerical results illustrate the competitiveness of this approach

Allen-Cahn and Cahn-Hilliard variational inequalities solved with Optimization Techniques

Parabolic variational inequalities of Allen-Cahn and Cahn- Hilliard type are solved using methods involving constrained optimization. Time discrete variants are formulated with the help of Lagrange multipliers for local and non-local equality and inequality constraints. Fully discrete problems resulting from finite element discretizations in space are solved with the help of a primal-dual active set approach. We show several numerical computations also involving systems of parabolic variational inequalities