Soy: 区分アフィン系のための効率的なMILPソルバ
Soy: An Efficient MILP Solver for Piecewise-Affine Systems
区分アフィン系の制御問題を混合整数凸計画として解く際に、ワンホット制約を効率的に扱う専用ソルバSoyを開発し、既存のMICPソルバより高速に多くの問題を解けることを示した。
著者: Haoze Wu, Min Wu, Dorsa Sadigh, Clark Barrett
分類: cs.RO, cs.LO, cs.SY, eess.SY, math.OC
原文アブストラクト
Piecewise-affine (PWA) systems are widely used for modeling and control of robotics problems including modeling contact dynamics. A common approach is to encode the control problem of the PWA system as a Mixed-Integer Convex Program (MICP), which can be solved by general-purpose off-the-shelf MICP solvers. To mitigate the scalability challenge of solving these MICP problems, existing work focuses on devising efficient and strong formulations of the problems, while less effort has been spent on exploiting their specific structure to develop specialized solvers. The latter is the theme of our work. We focus on efficiently handling one-hot constraints, which are particularly relevant when encoding PWA dynamics. We have implemented our techniques in a tool, Soy, which organically integrates logical reasoning, arithmetic reasoning, and stochastic local search. For a set of PWA control benchmarks, Soy solves more problems, faster, than two state-of-the-art MICP solvers.
