マルチモード推定によるロボット運動計画の近似トポロジカル最適化
Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning
経路最適化問題の全ての局所最適解（モード）を近似的に求めるマルチモード推定アルゴリズムを提案し、スパースロードマップと単一モード最適化を統合して漸近的収束を実現した。
著者: Andreas Orthey, Florian T. Pokorny, Marc Toussaint
分類: cs.RO, math.OC
原文アブストラクト
In this extended abstract, we report on ongoing work towards an approximate multimodal optimization algorithm with asymptotic guarantees. Multimodal optimization is the problem of finding all local optimal solutions (modes) to a path optimization problem. This is important to compress path databases, as contingencies for replanning and as source of symbolic representations. Following ideas from Morse theory, we define modes as paths invariant under optimization of a cost functional. We develop a multi-mode estimation algorithm which approximately finds all modes of a given motion optimization problem and asymptotically converges. This is made possible by integrating sparse roadmaps with an existing single-mode optimization algorithm. Initial evaluation results show the multi-mode estimation algorithm as a promising direction to study path spaces from a topological point of view.
