Parallel decomposition methods for linearly constrained problems subject to simple bound with application to the SVMs training

We consider the convex quadratic linearly constrained problem with bounded variables and with huge and dense Hessian matrix that arises in many applications such as the training problem of bias support vector machines. We propose a decomposition algorithmic scheme suitable to parallel implementations and we prove global convergence under suitable conditions. Focusing on support vector machines training, we outline how these assumptions can be satisfied in practice and we suggest various specific implementations. Extensions of the theoretical results to general linearly constrained problem are provided. We included numerical results on support vector machines with the aim of showing the viability and the effectiveness of the proposed scheme

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