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arXiv · 2403.10924

PAAMP: Polytopic Action-Set And Motion Planning for Long Horizon Dynamic Motion Planning via Mixed Integer Linear Programming

Akshay Jaitly·Siavash Farzan
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Abstract

Optimization methods for long-horizon, dynamically feasible motion planning in robotics tackle challenging non-convex 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.

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Akshay Jaitly, Siavash Farzan. 2024-03-16. PAAMP: Polytopic Action-Set And Motion Planning for Long Horizon Dynamic Motion Planning via Mixed Integer Linear Programming. https://doi.org/10.1109/iros58592.2024.10802176

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