.png){kind=icon}
返回
Data-driven acceleration of mixed-integer bilinear programs: a comparative study for robot motion planning
.png){kind=icon}
OA
AI
DOI：10.3389/frobt.2025.1656564.png)
.png){kind=icon}
.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
This paper presents a comparative study of data-driven acceleration techniques for mixed-integer bilinear programs (MIBLPs) applied to robot motion planning. MIBLPs combine discrete decision variables and nonlinear constraints; making them computationally challenging for real-time robotics applications. We investigate two reformulation strategies: (1) converting binary variables into continuous variables with complementarity constraints (MPCC); and (2) converting bilinear constraints into mixed-integer linear constraints using McCormick envelopes (MICP). Using offline computed solutions as datasets; we apply K-nearest neighbor methods to warm-start both reformulations. We experimented with the proposed data-driven MIBLP formulation for motion planning on a linear inverted pendulum with contacts; and planning motion using a single rigid body model with mode transitions and contacts. Our results demonstrate that when sufficient data is available; MICP achieves consistently fast solving speeds that are suitable for real-time computation; while MPCC achieves higher success rates with limited amount of data. Our approach is capable of planning motions for the SCALER robot platform to transition between bipedal and quadrupedal configurations to navigate around obstacles without pre-specified gaits. Code for reproducing our results is available at https://github.com/XuanLin/MIBLP_benchmark.
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
F
IF:
3
论文数:
515
被引数:
6.9K
机构
引用论文
Rapidly computable viscous friction and no-slip rigid contact models. arXiv Prepr. arXiv:1504.00719.png)
IF0
PREAI
分享收藏分享收藏
查看更多内容