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Optimality-Informed Neural Networks for Solving Parametric Optimization Problems
Matthias K. Hoffmann, Amine Othmane, Kathrin Flaßkamp
Many engineering tasks require solving families of nonlinear constrained optimization problems, parametrized in setting-specific variables. This is computationally demanding, parti…
Globally convergent homotopies for discrete-time optimal control
Willem Esterhuizen, Kathrin Flaßkamp, Matthias Hoffmann +1
Homotopy methods are attractive due to their capability of solving difficult optimisation and optimal control problems. The underlying idea is to construct a homotopy, which may be…
Path Planning for Concentric Tube Robots: a Toolchain with Application to Stereotactic Neurosurgery
Matthias K. Hoffmann, Willem Esterhuizen, Karl Worthmann +1
We present a toolchain for solving path planning problems for concentric tube robots through obstacle fields. First, ellipsoidal sets representing the target area and obstacles are…