Paper Reading

Motion Planning

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2021.8.17
Paper – Motion Planning with Sequential Convex Optimization and Convex Collision Checking

1. sequential convex optimization
2. convex collision checking
3. CHOMP (Covariant Hamiltonian Optimization for Motion Planning)
4. At the core of our approach are (a) a sequential convex optimization procedure, which penalizes collisions with a hinge loss and increases the penalty coefficients in an outer loop as necessary, and (b) an efficient formulation of the no-collisions constraint that directly considers continuous-time safety
5. statically stable walking motion
6. We also apply TrajOpt to plan curvature-constrained steerable needle trajectories in the SE( 3) configuration space and multiple non-intersecting curved channels within 3D-printed implants for intracavitary brachytherapy.
7. revived
8. non-holonomic
9. swept-out volume
10. polyhedral approximation
11. quantitative
12. simultaneously
13. torso
14. optimize clinically relevant metrics for flexible, bevel-tip medical needles
15. multiple bevel-tip flexible needles inserted through the perineum to reach targets deep within the prostate following high-quality constant curvature trajectories, and (f) optimized layout for bounded curvature channels within 3D-printed vaginal implants for delivering radiation to OB/GYN tumors.
16. (1) we use a different approach for collision detection, and (2) we use a different numerical optimization scheme.
17. Two key ingredients of a sequential convex optimization algorithm are: (a) a method for constraining the step to be small, so the solution vector remains within the region where the approximations are valid; (b) a strategy for turning the infeasible constraints into penalties, which eventually drives all of the constraint violations to zero.
18. Our implementation uses a variant of the classic 1 penalty method (Nocedal and Wright, 1999), described in Algorithm 1

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2021.8.20

Motion Group

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2021.8.18

1. Moper: Motion planner package includes collision check and trajopt — TOPPRA
2. xyz-urdf: provide DH parameters and mesh
3. xyz-kdl: FK/IK/MoveL/MoveJ — TOPPRA
4. xyz-motion-base: includes xyz-robot and xyz-kdl… Python interface ---- TOPPRA
5. piece picking has no collision check !!!
6. movement flow is in RAFCON, which includes waypoints to ensure trajopt.