论文标题
通过动态限制的优化问题的因素图形方法
A Factor-Graph Approach for Optimization Problems with Dynamics Constraints
论文作者
论文摘要
在本文中，我们将动态因子图作为图形框架，以解决动力学问题和动力学运动计划问题，并完全考虑全身动力学和接触。动力学问题的因子图表示，可以深入了解其数学结构，并与稀疏的非线性优化器一起使用，以解决机器人技术中具有挑战性的高维优化问题。我们可以轻松地将运动动力运动计划作为因子图的轨迹优化问题。我们通过将它们应用于控制各种动力学系统（从简单的卡车极到12型四倍体四倍体机器人）来证明动态因子图的灵活性和描述性。
In this paper, we introduce dynamics factor graphs as a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-body dynamics and contacts. A factor graph representation of dynamics problems provides an insightful visualization of their mathematical structure and can be used in conjunction with sparse nonlinear optimizers to solve challenging, high-dimensional optimization problems in robotics. We can easily formulate kinodynamic motion planning as a trajectory optimization problem with factor graphs. We demonstrate the flexibility and descriptive power of dynamics factor graphs by applying them to control various dynamical systems, ranging from a simple cart pole to a 12-DoF quadrupedal robot.
