Fast Direct Multiple Shooting Algorithms for Optimal Robot Control
By Moritz Diehl, Hans Georg Bock, Holger Diedam, Pierre-Brice Wieber. 2005
444 citations recorded by the source corpus.
Subfields: Control and Systems Engineering
View Paper: https://www.semanticscholar.org/paper/8985e75ed93ca27f7ac1b4d9d18b0ab7a7c4c80d
How researchers see this paper
The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.
In Control and Systems Engineering
- Marco Hutter
- Alexander Liniger
- Davide Scaramuzza
- Elia Kaufmann
- Jonas Buchli
- C. D. Bellicoso
- Moritz Diehl
- Philip Föhn
Citations in the corpus
- Time-Optimal Path Tracking for Robots: A Convex Optimization Approach (2009, methodology): “Section V shows that direct transcription [6], [25]–[27] by simultaneous discretization of the states and the controls, results in a reliable and very efficient method to numerically solve the optimal control problem based on secondorder cone programming.”
- Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization (2018, unknown): “, Collocation) [33].”
- Optimization-Based Collision Avoidance (2017, background): “ls. Optimization-based trajectory planning algorithms such as Model Predictive Control (MPC) have received signicant attention recently, ranging from (unmanned) aircraft to robots to autonomous cars [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12]. This can be attributed to the increase in computational reso”
- Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds (2017, methodology): “We run a so called “real-time iteration scheme” [23], where we apply the optimized trajectory after a single iteration.”
- Whole-body motion planning with centroidal dynamics and full kinematics (2014, background): “approach can produce beautiful trajectories [16] [20] [4], but due to the complexity of the full-body dynamics, these optimizations can take an excessively long time to run, and may also suffer from local minima.”
- Data-Driven MPC for Quadrotors (2021, methodology): “To solve this quadratic optimization problem we construct it using a multiple shooting scheme [32] and solve it through a sequential quadratic program (SQP) executed in a real-time iteration scheme (RTI) [32].”