ADMMを用いた複数物品の挿入タスクプランニング
Task Planning for Multiple Item Insertion using ADMM
物品収納タスクを混合整数非線形計画問題として定式化し、ADMMで非線形計画と混合整数計画に分けて反復求解することで、大規模問題でも効率的に計画できる手法を提案し、本棚への書籍挿入で実機検証した。
著者: Gavin Zheng
分類: math.OC, cs.RO
原文アブストラクト
Mixed-integer nonlinear programmings (MINLPs) are powerful formulation tools for task planning. However, it suffers from long solving time especially for large scale problems. In this work, we first formulate the task planning problem for item stowing into a mixed-integer nonlinear programming problem, then solve it using Alternative Direction Method of Multipliers (ADMM). ADMM separates the complete formulation into a nonlinear programming problem and mixed-integer programming problem, then iterate between them to solve the original problem. We show that our ADMM converges better than non-warm-started nonlinear complementary formulation. Our proposed methods are demonstrated on hardware as a high level planner to insert books into the bookshelf.