動力学制約付き最適化問題のための因子グラフ手法
A Factor-Graph Approach for Optimization Problems with Dynamics Constraints
全身動力学と接触を考慮した動力学問題やキノダイナミック運動計画を因子グラフで表現し、疎な非線形最適化と組み合わせて解く枠組みを提案した論文。
著者: Mandy Xie, Alejandro Escontrela, Frank Dellaert
分類: cs.RO
原文アブストラクト
In this paper, we introduce dynamics factor graphs as a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-body dynamics and contacts. A factor graph representation of dynamics problems provides an insightful visualization of their mathematical structure and can be used in conjunction with sparse nonlinear optimizers to solve challenging, high-dimensional optimization problems in robotics. We can easily formulate kinodynamic motion planning as a trajectory optimization problem with factor graphs. We demonstrate the flexibility and descriptive power of dynamics factor graphs by applying them to control various dynamical systems, ranging from a simple cart pole to a 12-DoF quadrupedal robot.
