Designing Multi-Stage Coupled Convex Programming with Data-Driven McCormick Envelope Relaxations for Motion Planning.
Xuan LinMin Sung AhnDennis W. HongPublished in: ICRA (2021)
Keyphrases
- multistage
- motion planning
- convex programming
- data driven
- linear programming
- dynamic programming
- convex relaxation
- degrees of freedom
- convex optimization
- trajectory planning
- interior point methods
- mobile robot
- path planning
- humanoid robot
- single stage
- multi robot
- lower bound
- lot sizing
- configuration space
- primal dual
- np hard
- semidefinite programming
- optimal policy
- convex functions
- vision system
- search space
- optimal solution
- climbing robot