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Inter-sample avoidance in trajectory optimizers using mixed-integer linear programming

INTERNATIONAL JOURNAL OF ROBUST AND NONlinear CONTROL 2015年第4期25卷 521-526页

作者： Richards, Arthur Turnbull, Oliver Univ Bristol Dept Aerosp Engn Bristol Avon England Univ Bristol Dept Aerosp Engn Bristol Avon England

This paper proposes an extension to trajectory optimization using mixed-integer linear programming. The purpose of the extension is to ensure that avoidance constraints are respected at all times between discrete samples, not just at the sampling times themselves. The method is very simple and involves applying the same switched constraints at adjacent time steps. This requires fewer additional constraints than the existing approach and is shown to reduce computation time. A key benefit of efficient inter-sample avoidance is the facility to reduce the number of time steps without having to compensate by enlarging the obstacles. A further extension to the principle is presented to account for curved paths between samples, proving useful in cases where narrow passageways are traversed. Copyright (c) 2013 John Wiley & Sons, Ltd.

关键词： trajectory optimization mixed integer linear programming collision avoidance

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A mixed integer linear programming Model for the Distribution of Transport Tasks Among Heterogeneous Robots in a Factory

A Mixed Integer Linear Programming Model for the Distributio...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Igor Pardal Latini Wilson Eduardo Barioni Marco Teixeira Flavio Neves-Jr Lucia Valeria Ramos de Arruda CPGEI-UTFPR Curitiba Parana Brazil Universidade Tecnologica Federal do Parana (UTFPR) Curitiba Parana Brazil Automation and Advanced Control System Laboratory (LASCA) Graduate Program in Electrical and Computer Engineering (CPGEI) Pontificia Universidade Catolica do Parana (PUCPR) Curitiba Parana Brazil PPGla-PUCPR Curitiba Parana Brazil

ISBN: (数字)9798350340266

ISBN: (纸本)9798350340273

The growing need for automation of factories and their processes determines a constant increase in the use of robots to carry out various tasks. Multiple robots can do different tasks simultaneously, speeding up processes. This practice raises the question of how many robots are needed to service the entire process, given all the limitations of the operation. One of these limitations is due to the navigation systems used by the several robots in the environment. Line-followers robots, for example, can only meet some tasks but are cheaper than free-movement ones. In this work, we develop an optimization model for task allocation among the available robots to minimize execution delays using mixed integer linear programming, considering their navigation systems. With the model, it is possible to obtain the best task allocation for each robot and the order to perform such tasks, thus avoiding delays as much as possible and getting zero delays for the presented case, that emulates the process of a vehicle assembler factory line.

关键词： Service robots Navigation Search problems Production facilities Delays mixed integer linear programming Batteries

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Parallel-processing VLSI architecture for mixed integer linear programming

Parallel-processing VLSI architecture for mixed integer line...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： Hiroki Noguchi Junichi Tani Yusuke Shimai Hiroshi Kawaguchi Masahiko Yoshimoto Kobe University Kobe Japan

This paper describes parallel processor architecture for a mixed integer linear programming (MILP) solver to realize motion planning and hybrid system control in robot applications. It features pipeline architecture with an MILP-specific configuration and two-port SRAM. Based on the architecture, both FPGA and VLSI implementations have been done to solve sample problems including 16 variables. The FPGA implementation can reduce the power consumption to 13 W: an 85.4% reduction compared to a 3.0-GHz processor (Pentium 4; Intel Corp.). The VLSI solver further reduces the power to 6.4 W using 0.18-μm CMOS technology.

关键词： Very large scale integration mixed integer linear programming Field programmable gate arrays CMOS technology Power system planning Motion planning Process planning Motion control Robot control Control systems

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Modeling and Path Planning of the City-Climber Robot Part II: 3D Path Planning Using mixed integer linear programming

Modeling and Path Planning of the City-Climber Robot Part II...

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2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Ronggang Yue Jizhong Xiao Shaoping Wang Samleo L. Joseph Electrical Engineering Department the City CollegeCity University of New York (CUNY City College)C Electrical Engineering Department of CUNY City College Convent Ave & 140th StreetNY 10031USA Department of Mechanical and Electronic Engineering School of Automation Science and Electrical Engi

ISBN: (纸本)9781424447749

This is the second part of a series papers on modeling and path planning of the City-Climber robot. This paper presents a path planning method for the City-Climber robot using mixed integer linear programming (MILP) in 3D building environments that consist of objects with primitive geometrical shapes. In order to use MILP to solve obstacle avoidance problems, we first simplify and decouple the robot dynamic model by introducing a restricting admissible control. The decoupled model and obstacle can be rewritten as a linear program with mixed integer linear constraints that account for the collision avoidance. A key benefit of this approach is that the path optimization can be readily solved using the AMPL and CPLEX optimization software with a Matlab interface. Simulation results show that the framework of MILP is well suited for path planning and obstacle avoidance problems for the wall-climbing robot in 3D environments.

关键词： Path planning mixed integer linear programming Collision avoidance Modeling Robot Wall-climbing robot linear programming Obstacle avoidance

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Water supply planning simulation model wing mixed-integer linear programming ''engine''

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JOURNAL OF WATER RESOURCES PLANNING AND MANAGEMENT-ASCE 1997年第2期123卷 116-124页

作者： Randall, D Cleland, L Kuehne, CS Link, GW Sheer, DP WATER RESOUR PLNG PROGRAM MGR FREMONTCA 94537 HYDROL CONSULTANTS INC DAVISCA 95616

This paper presents a simulation model to be used for water supply planning by a metropolitan water utility, Water supply operations for a single, monthly time step are formulated as a mixed integer linear program (or more simply, LP). The LP is then embedded in a month-by-month simulation model, The LP is formulated using a priority-based objective function, The model has been used successfully by the Alameda County Water District (California) staff for its long-range, integrated planning. The model also shows that some of the inherent weaknesses of math programming in general and mixed integer linear programming in particular, can be overcome to build a successful model.

关键词： System integer linear programming water utilities Integrated planning Simulation models Water districts linear programming Water Supply mixed integer linear programming

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Safety of a decentralized scheme for free-flight ATMS using mixed integer linear programming

Safety of a decentralized scheme for free-flight ATMS using ...

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American Control Conference (ACC)

作者： L. Pallottino A. Bicchi S. Pancanti E2809C. PiaggioE2809D Interdepartmental Research Center University of Pisa Pisa Italy

In this paper we consider policies for free-flight management of air traffic. We consider instantaneous and bounded heading angle deviation as conflict avoidance maneuvers. The corresponding model, resulting in a mixed integer linear programming (MILP) problem allow to solve both conflict detection and conflict resolution problems. The developed algorithm proved successful in a centralized implementation with a large number of cooperating aircraft. However, the application of such algorithm to a free flight environment, where cooperation can only be expected from neighboring aircraft, poses many challenges. We consider a model of the decentralized conflict resolution strategy that is based on a hybrid system, and sufficient conditions under which a 3-aircraft free flight MILP-based scheme guarantees safety of flight are provided.

关键词： mixed integer linear programming Aircraft Aerospace safety Air safety Vehicle safety Traffic control Decision making Fuels Collaboration Distributed control

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Exercise programming and Optimization for Untrained Individual using mixed integer linear programming

Exercise Programming and Optimization for Untrained Individu...

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International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management (HNICEM)

作者： Arianna Elise C. Chua Nilo T. Bugtai Robert Kerwin C. Billones Department of Manufacturing Engineering and Management De La Salle University Manila Philippines

Maintaining physical fitness through sports or exercise plays a role in our overall health and well-being, from recovering from cardiovascular diseases to avoiding serious injury. Although sports and exercise are as much as social or recreational activities, not all activities would be equivalent in terms of required physical exertion to maintain cardiovascular health and muscle hypertrophy. Broad guidelines guide medical and sports training professionals to prescribe the correct amount of physical activity for a training session. However, prescribing based on real-life exertion and fitness goals is left entirely to the trainer's discretion. Furthermore, given that the restrictions of one's schedule may discourage some people from getting any physical activity whatsoever, finding an exercise program that satisfies minimum fitness requirements in the least amount of time may encourage more to be more active. This study presents an optimization of a high-intensity interval training program using mixed integer linear programming (MILP), which seeks to select workouts that provide efficient aerobic and muscular gains while minimizing the time needed to perform the program. The program was constrained to suit a high-intensity aerobic program while engaging five muscle groups proportionately. An eight-exercise program was created using MILP, performed at a high intensity while ordering muscle groups' utilization sizes in descending order.

关键词： Training Resistance Sequential analysis Schedules Muscles mixed integer linear programming Health and safety

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A mixed integer linear programming approach for design space exploration in FPGA-based MPSoC

A mixed integer linear programming approach for design space...

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International Conference on Field Programmable Logic and Applications

作者： Bouthaina Dammak Rachid Benmansour Smail Niar Mouna Baklouti Mohamed Abid LAMIH University of Valenciennes Valenciennes France National School of Engineers of Sfax Sfax Tunisia

Heterogeneous Multiprocessor System-on-Chip (Ht-MPSoC) architectures represent a promising approach as they allow a higher performance/energy consumption trade-off. In such systems, the processor instruction set is enhanced by application-specific custom instructions implemented on reconfigurable fabrics, namely FPGA. To increase area utilization and guarantee application constraint respect, we propose a new architecture where Ht-MPSoC hardware accelerators are shared among different processors in an intelligent manner. In this paper, a mixed integer linear programming (MILP) model is proposed to systematically explore the complex design space of the different configurations.

关键词： Hardware Computer architecture Space exploration Acceleration mixed integer linear programming Field programmable gate arrays linear accelerators

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PAAMP: Polytopic Action-Set And Motion Planning for Long Horizon Dynamic Motion Planning via mixed integer linear programming

PAAMP: Polytopic Action-Set And Motion Planning for Long Hor...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Akshay Jaitly Siavash Farzan Robotics Engineering Department Worcester Polytechnic Institute Worcester MA USA Electrical Engineering Department California Polytechnic State University San Luis Obispo CA USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Optimization methods for long-horizon, dynamically feasible motion planning in robotics tackle challenging nonconvex and discontinuous optimization problems. Traditional methods often falter due to the nonlinear characteristics of these problems. We introduce a technique that utilizes learned representations of the system, known as Polytopic Action Sets, to efficiently compute long-horizon trajectories. By employing a suitable sequence of Polytopic Action Sets, we transform the long-horizon dynamically feasible motion planning problem into a linear Program. This reformulation enables us to address motion planning as a mixed integer linear Program (MILP). We demonstrate the effectiveness of a Polytopic Action-Set and Motion Planning (PAAMP) approach by identifying swing-up motions for a torque-constrained pendulum as fast as 0.75 milliseconds. This approach is well-suited for solving complex motion planning and long-horizon Constraint Satisfaction Problems (CSPs) in dynamic and underactuated systems such as legged and aerial robots.

关键词： Dynamics Optimization methods Transforms Autonomous aerial vehicles Planning Trajectory mixed integer linear programming Dynamic programming Intelligent robots

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An approximate mixed integer linear programming (MILP) model for the design of water reuse/recycle networks with minimum emergy

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ASIA-PACIFIC JOURNAL OF CHEMICAL ENGINEERING 2007年第6期2卷 566-574页

作者： Tan, R. R. Foo, D. C. Y. Ng, D. K. S. Chiang, C. L. Hu, S. Ku-Pineda, V. De La Salle Univ Dept Chem Engn Manila 1004 Philippines Univ Nottingham Malaysia Sch Chem & Environm Engn Semenyih 43500 Selangor Malaysia Inst Technol Cambodia Chem & Food Technol Dept Phnom Penh Cambodia

Recent trends in process engineering have placed increased emphasis on the design of inherently clean and efficient processes. For example, a wide range of pinch analysis and mathematical programming methods have been developed for designing schemes for water reuse/recycle in industrial plants for both grassroot design and plant retrofit. In the latter case, the conventional approach is to maximize water recovery and thereby minimize fresh water demand and effluent volume. However, it is possible that with such an approach the reductions in environmental impact brought about by saving water can be offset by other impacts arising from increased use of energy and materials in the plant after retrofit. This work presents a model for minimizing the total resource consumption impact of a water reuse/recycle network. The total impact is expressed in terms of emergy - a measure of cumulative solar energy inputs into a life cycle system. A simplified model is proposed that focuses on the impact contributions of water, electrical power and material for capital goods. Two case studies illustrate the approach. Results show that the network with the lowest total impact can be found by sacrificing water recovery for savings in energy and material use. (c) 2007 Curtin University of Technology and John Wiley & Sons, Ltd.

关键词： water reuse/recycle networks mixed integer linear programming life cycle emergy

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