ロボット動作計画のための非線形計画法の可視化
Visualization of Nonlinear Programming for Robot Motion Planning
ロボット動作計画における高次元・多制約の非線形最適化プロセスを、視覚分析で専門家が探索・理解・トラブルシュートできるシステムを開発した。
著者: David Hägele, Moataz Abdelaal, Ozgur S. Oguz, Marc Toussaint, Daniel Weiskopf
分類: cs.RO, cs.HC, cs.NA, math.NA
原文アブストラクト
Nonlinear programming targets nonlinear optimization with constraints, which is a generic yet complex methodology involving humans for problem modeling and algorithms for problem solving. We address the particularly hard challenge of supporting domain experts in handling, understanding, and trouble-shooting high-dimensional optimization with a large number of constraints. Leveraging visual analytics, users are supported in exploring the computation process of nonlinear constraint optimization. Our system was designed for robot motion planning problems and developed in tight collaboration with domain experts in nonlinear programming and robotics. We report on the experiences from this design study, illustrate the usefulness for relevant example cases, and discuss the extension to visual analytics for nonlinear programming in general.
