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cs.RO2018
Solving Chance Constrained Optimization under Non-Parametric Uncertainty Through Hilbert Space Embedding
Bharath Gopalakrishnan, Arun Kumar Singh, K. Madhava Krishna +1
In this paper, we present an efficient algorithm for solving a class of chance constrained optimization under non-parametric uncertainty. Our algorithm is built on the possibility…
cs.RO2018
Combining Method of Alternating Projections and Augmented Lagrangian for Task Constrained Trajectory Optimization
Arun Kumar Singh, Reza Ghabcheloo, Andreas Muller +1
Motion planning for manipulators under task space constraints is difficult as it constrains the joint configurations to always lie on an implicitly defined manifold. It is possible…