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

Index theory and dynamical symmetry enhancement of M-horizons

We show that near-horizon geometries of 11-dimensional supergravity preserve an even number of supersymmetries. The proof follows from Lichnerowicz type theorems for two horizon Dirac operators, the field equations and Bianchi identities, and the vanishing of the index of a Dirac operator on the 9-dimensional horizon sections. As a consequence of this, we also prove that all M-horizons with non-vanishing fluxes admit a sl(2,R) subalgebra of symmetries.Comment: Minor typos corrected. 22 pages, latex. Repeats equations and descriptions from arXiv:1207.708

M-Horizons

We solve the Killing spinor equations and determine the near horizon geometries of M-theory that preserve at least one supersymmetry. The M-horizon spatial sections are 9-dimensional manifolds with a Spin(7) structure restricted by geometric constraints which we give explicitly. We also provide an alternative characterization of the solutions of the Killing spinor equation, utilizing the compactness of the horizon section and the field equations, by proving a Lichnerowicz type of theorem which implies that the zero modes of a Dirac operator coupled to 4-form fluxes are Killing spinors. We use this, and the maximum principle, to solve the field equations of the theory for some special cases and present some examples.Comment: 36 pages, latex. Reference added, minor typos correcte

Grazing Collisions of Black Holes via the Excision of Singularities

We present the first simulations of non-headon (grazing) collisions of binary black holes in which the black hole singularities have been excised from the computational domain. Initially two equal mass black holes $m$ are separated a distance $\approx10m$ and with impact parameter $\approx2m$. Initial data are based on superposed, boosted (velocity $\approx0.5c$) solutions of single black holes in Kerr-Schild coordinates. Both rotating and non-rotating black holes are considered. The excised regions containing the singularities are specified by following the dynamics of apparent horizons. Evolutions of up to $t \approx 35m$ are obtained in which two initially separate apparent horizons are present for $t\approx3.8m$. At that time a single enveloping apparent horizon forms, indicating that the holes have merged. Apparent horizon area estimates suggest gravitational radiation of about 2.6% of the total mass. The evolutions end after a moderate amount of time because of instabilities.Comment: 2 References corrected, reference to figure update

Dirty black holes: Symmetries at stationary non-static horizons

We establish that the Einstein tensor takes on a highly symmetric form near the Killing horizon of any stationary but non-static (and non-extremal) black hole spacetime. [This follows up on a recent article by the current authors, gr-qc/0402069, which considered static black holes.] Specifically, at any such Killing horizon -- irrespective of the horizon geometry -- the Einstein tensor block-diagonalizes into ``transverse'' and ``parallel'' blocks, and its transverse components are proportional to the transverse metric. Our findings are supported by two independent procedures; one based on the regularity of the on-horizon geometry and another that directly utilizes the elegant nature of a bifurcate Killing horizon. It is then argued that geometrical symmetries will severely constrain the matter near any Killing horizon. We also speculate on how this may be relevant to certain calculations of the black hole entropy.Comment: 21 pages; plain LaTe

Quasi-circular Orbits for Spinning Binary Black Holes

Using an effective potential method we examine binary black holes where the individual holes carry spin. We trace out sequences of quasi-circular orbits and locate the innermost stable circular orbit as a function of spin. At large separations, the sequences of quasi-circular orbits match well with post-Newtonian expansions, although a clear signature of the simplifying assumption of conformal flatness is seen. The position of the ISCO is found to be strongly dependent on the magnitude of the spin on each black hole. At close separations of the holes, the effective potential method breaks down. In all cases where an ISCO could be determined, we found that an apparent horizon encompassing both holes forms for separations well inside the ISCO. Nevertheless, we argue that the formation of a common horizon is still associated with the breakdown of the effective potential method.Comment: 13 pages, 10 figures, submitted to PR

Massively Parallel Dantzig-Wolfe Decomposition Applied to Traffic Flow Scheduling

Optimal scheduling of air traffic over the entire National Airspace System is a computationally difficult task. To speed computation, Dantzig-Wolfe decomposition is applied to a known linear integer programming approach for assigning delays to flights. The optimization model is proven to have the block-angular structure necessary for Dantzig-Wolfe decomposition. The subproblems for this decomposition are solved in parallel via independent computation threads. Experimental evidence suggests that as the number of subproblems/threads increases (and their respective sizes decrease), the solution quality, convergence, and runtime improve. A demonstration of this is provided by using one flight per subproblem, which is the finest possible decomposition. This results in thousands of subproblems and associated computation threads. This massively parallel approach is compared to one with few threads and to standard (non-decomposed) approaches in terms of solution quality and runtime. Since this method generally provides a non-integral (relaxed) solution to the original optimization problem, two heuristics are developed to generate an integral solution. Dantzig-Wolfe followed by these heuristics can provide a near-optimal (sometimes optimal) solution to the original problem hundreds of times faster than standard (non-decomposed) approaches. In addition, when massive decomposition is employed, the solution is shown to be more likely integral, which obviates the need for an integerization step. These results indicate that nationwide, real-time, high fidelity, optimal traffic flow scheduling is achievable for (at least) 3 hour planning horizons