Motion Planning of Uncertain Ordinary Differential Equation Systems

This work presents a novel motion planning framework, rooted in nonlinear programming theory, that treats uncertain fully and under-actuated dynamical systems described by ordinary differential equations. Uncertainty in multibody dynamical systems comes from various sources, such as: system parameters, initial conditions, sensor and actuator noise, and external forcing. Treatment of uncertainty in design is of paramount practical importance because all real-life systems are affected by it, and poor robustness and suboptimal performance result if it’s not accounted for in a given design. In this work uncertainties are modeled using Generalized Polynomial Chaos and are solved quantitatively using a least-square collocation method. The computational efficiency of this approach enables the inclusion of uncertainty statistics in the nonlinear programming optimization process. As such, the proposed framework allows the user to pose, and answer, new design questions related to uncertain dynamical systems. Specifically, the new framework is explained in the context of forward, inverse, and hybrid dynamics formulations. The forward dynamics formulation, applicable to both fully and under-actuated systems, prescribes deterministic actuator inputs which yield uncertain state trajectories. The inverse dynamics formulation is the dual to the forward dynamic, and is only applicable to fully-actuated systems; deterministic state trajectories are prescribed and yield uncertain actuator inputs. The inverse dynamics formulation is more computationally efficient as it requires only algebraic evaluations and completely avoids numerical integration. Finally, the hybrid dynamics formulation is applicable to under-actuated systems where it leverages the benefits of inverse dynamics for actuated joints and forward dynamics for unactuated joints; it prescribes actuated state and unactuated input trajectories which yield uncertain unactuated states and actuated inputs. The benefits of the ability to quantify uncertainty when planning the motion of multibody dynamic systems are illustrated through several case-studies. The resulting designs determine optimal motion plans—subject to deterministic and statistical constraints—for all possible systems within the probability space

Inverse polynomial optimization

We consider the inverse optimization problem associated with the polynomial program f^*=\min \{f(x): x\in K\}$and a given current feasible solution$y\in K$. We provide a systematic numerical scheme to compute an inverse optimal solution. That is, we compute a polynomial$\tilde{f}$(which may be of same degree as$f$if desired) with the following properties: (a)$y$is a global minimizer of$\tilde{f}$on$K$with a Putinar's certificate with an a priori degree bound$d$fixed, and (b),$\tilde{f}$minimizes$\Vert f-\tilde{f}\Vert$(which can be the$\ell_1$,$\ell_2$or$\ell_\infty$-norm of the coefficients) over all polynomials with such properties. Computing$\tilde{f}_d$reduces to solving a semidefinite program whose optimal value also provides a bound on how far is$f(\y)$from the unknown optimal value$f^*$. The size of the semidefinite program can be adapted to the computational capabilities available. Moreover, if one uses the$\ell_1$-norm, then$\tilde{f}$ takes a simple and explicit canonical form. Some variations are also discussed.Comment: 25 pages; to appear in Math. Oper. Res; Rapport LAAS no. 1114

Conic Optimization Theory: Convexification Techniques and Numerical Algorithms

Optimization is at the core of control theory and appears in several areas of this field, such as optimal control, distributed control, system identification, robust control, state estimation, model predictive control and dynamic programming. The recent advances in various topics of modern optimization have also been revamping the area of machine learning. Motivated by the crucial role of optimization theory in the design, analysis, control and operation of real-world systems, this tutorial paper offers a detailed overview of some major advances in this area, namely conic optimization and its emerging applications. First, we discuss the importance of conic optimization in different areas. Then, we explain seminal results on the design of hierarchies of convex relaxations for a wide range of nonconvex problems. Finally, we study different numerical algorithms for large-scale conic optimization problems.Comment: 18 page

Computationally Efficient Trajectory Optimization for Linear Control Systems with Input and State Constraints

This paper presents a trajectory generation method that optimizes a quadratic cost functional with respect to linear system dynamics and to linear input and state constraints. The method is based on continuous-time flatness-based trajectory generation, and the outputs are parameterized using a polynomial basis. A method to parameterize the constraints is introduced using a result on polynomial nonpositivity. The resulting parameterized problem remains linear-quadratic and can be solved using quadratic programming. The problem can be further simplified to a linear programming problem by linearization around the unconstrained optimum. The method promises to be computationally efficient for constrained systems with a high optimization horizon. As application, a predictive torque controller for a permanent magnet synchronous motor which is based on real-time optimization is presented.Comment: Proceedings of the American Control Conference (ACC), pp. 1904-1909, San Francisco, USA, June 29 - July 1, 201

Setting Parameters by Example

We introduce a class of "inverse parametric optimization" problems, in which one is given both a parametric optimization problem and a desired optimal solution; the task is to determine parameter values that lead to the given solution. We describe algorithms for solving such problems for minimum spanning trees, shortest paths, and other "optimal subgraph" problems, and discuss applications in multicast routing, vehicle path planning, resource allocation, and board game programming.Comment: 13 pages, 3 figures. To be presented at 40th IEEE Symp. Foundations of Computer Science (FOCS '99

Synthesis and Optimization of Reversible Circuits - A Survey

Reversible logic circuits have been historically motivated by theoretical research in low-power electronics as well as practical improvement of bit-manipulation transforms in cryptography and computer graphics. Recently, reversible circuits have attracted interest as components of quantum algorithms, as well as in photonic and nano-computing technologies where some switching devices offer no signal gain. Research in generating reversible logic distinguishes between circuit synthesis, post-synthesis optimization, and technology mapping. In this survey, we review algorithmic paradigms --- search-based, cycle-based, transformation-based, and BDD-based --- as well as specific algorithms for reversible synthesis, both exact and heuristic. We conclude the survey by outlining key open challenges in synthesis of reversible and quantum logic, as well as most common misconceptions.Comment: 34 pages, 15 figures, 2 table

Trajectory generation for multi-contact momentum-control

Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks the assumptions of these models can become limiting. For example, the LIPM does not allow for the control of contact forces independently, is limited to co-planar contacts and assumes that the angular momentum is zero. In this paper, we propose to use the full momentum equations of a humanoid robot in a trajectory optimization framework to plan its center of mass, linear and angular momentum trajectories. The model also allows for planning desired contact forces for each end-effector in arbitrary contact locations. We extend our previous results on LQR design for momentum control by computing the (linearized) optimal momentum feedback law in a receding horizon fashion. The resulting desired momentum and the associated feedback law are then used in a hierarchical whole body control approach. Simulation experiments show that the approach is computationally fast and is able to generate plans for locomotion on complex terrains while demonstrating good tracking performance for the full humanoid control