Projection Methods: Swiss Army Knives for Solving Feasibility and Best Approximation Problems with Halfspaces

We model a problem motivated by road design as a feasibility problem. Projections onto the constraint sets are obtained, and projection methods for solving the feasibility problem are studied. We present results of numerical experiments which demonstrate the efficacy of projection methods even for challenging nonconvex problems

Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots

We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the wheels. Our approach relies on a zero-moment point based motion optimization which continuously updates reference trajectories. The reference motions are tracked by a hierarchical whole-body controller which computes optimal generalized accelerations and contact forces by solving a sequence of prioritized tasks including the nonholonomic rolling constraints. Our approach has been tested on ANYmal, a quadrupedal robot that is fully torque-controlled including the non-steerable wheels attached to its legs. We conducted experiments on flat and inclined terrains as well as over steps, whereby we show that integrating the wheels into the motion control and planning framework results in intuitive motion trajectories, which enable more robust and dynamic locomotion compared to other wheeled-legged robots. Moreover, with a speed of 4 m/s and a reduction of the cost of transport by 83 % we prove the superiority of wheeled-legged robots compared to their legged counterparts.Comment: IEEE Robotics and Automation Letter

Solving the Monge-Amp\`ere Equations for the Inverse Reflector Problem

The inverse reflector problem arises in geometrical nonimaging optics: Given a light source and a target, the question is how to design a reflecting free-form surface such that a desired light density distribution is generated on the target, e.g., a projected image on a screen. This optical problem can mathematically be understood as a problem of optimal transport and equivalently be expressed by a secondary boundary value problem of the Monge-Amp\`ere equation, which consists of a highly nonlinear partial differential equation of second order and constraints. In our approach the Monge-Amp\`ere equation is numerically solved using a collocation method based on tensor-product B-splines, in which nested iteration techniques are applied to ensure the convergence of the nonlinear solver and to speed up the calculation. In the numerical method special care has to be taken for the constraint: It enters the discrete problem formulation via a Picard-type iteration. Numerical results are presented as well for benchmark problems for the standard Monge-Amp\`ere equation as for the inverse reflector problem for various images. The designed reflector surfaces are validated by a forward simulation using ray tracing.Comment: 28 pages, 8 figures, 2 tables; Keywords: Inverse reflector problem, elliptic Monge-Amp\`ere equation, B-spline collocation method, Picard-type iteration; Minor revision: reference [59] to a recent preprint has been added and a few typos have been correcte

Parallel ADMM for robust quadratic optimal resource allocation problems

An alternating direction method of multipliers (ADMM) solver is described for optimal resource allocation problems with separable convex quadratic costs and constraints and linear coupling constraints. We describe a parallel implementation of the solver on a graphics processing unit (GPU) using a bespoke quartic function minimizer. An application to robust optimal energy management in hybrid electric vehicles is described, and the results of numerical simulations comparing the computation times of the parallel GPU implementation with those of an equivalent serial implementation are presented