Visualization of Nonlinear Programming for Robot Motion Planning

Nonlinear programming targets nonlinear optimization with constraints, which is a generic yet complex methodology involving humans for problem modeling and algorithms for problem solving. We address the particularly hard challenge of supporting domain experts in handling, understanding, and trouble-...

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Published inarXiv.org
Main Authors Hägele, David, Abdelaal, Moataz, Oguz, Ozgur S, Toussaint, Marc, Weiskopf, Daniel
Format Paper Journal Article
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 28.01.2021
Subjects
Algorithms
Computer Science - Human-Computer Interaction
Computer Science - Numerical Analysis
Computer Science - Robotics
Domains
Mathematics - Numerical Analysis
Motion planning
Nonlinear analysis
Nonlinear programming
Optimization
Problem solving
Robot dynamics
Robotics
Subject specialists
Troubleshooting
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ISSN2331-8422
DOI10.48550/arxiv.2101.12075

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Abstract Nonlinear programming targets nonlinear optimization with constraints, which is a generic yet complex methodology involving humans for problem modeling and algorithms for problem solving. We address the particularly hard challenge of supporting domain experts in handling, understanding, and trouble-shooting high-dimensional optimization with a large number of constraints. Leveraging visual analytics, users are supported in exploring the computation process of nonlinear constraint optimization. Our system was designed for robot motion planning problems and developed in tight collaboration with domain experts in nonlinear programming and robotics. We report on the experiences from this design study, illustrate the usefulness for relevant example cases, and discuss the extension to visual analytics for nonlinear programming in general.
AbstractList Nonlinear programming targets nonlinear optimization with constraints, which is a generic yet complex methodology involving humans for problem modeling and algorithms for problem solving. We address the particularly hard challenge of supporting domain experts in handling, understanding, and trouble-shooting high-dimensional optimization with a large number of constraints. Leveraging visual analytics, users are supported in exploring the computation process of nonlinear constraint optimization. Our system was designed for robot motion planning problems and developed in tight collaboration with domain experts in nonlinear programming and robotics. We report on the experiences from this design study, illustrate the usefulness for relevant example cases, and discuss the extension to visual analytics for nonlinear programming in general.
Proceedings of the 13th International Symposium on Visual Information Communication and Interaction (2020), Article No. 10, Pages 1-8 Nonlinear programming targets nonlinear optimization with constraints, which is a generic yet complex methodology involving humans for problem modeling and algorithms for problem solving. We address the particularly hard challenge of supporting domain experts in handling, understanding, and trouble-shooting high-dimensional optimization with a large number of constraints. Leveraging visual analytics, users are supported in exploring the computation process of nonlinear constraint optimization. Our system was designed for robot motion planning problems and developed in tight collaboration with domain experts in nonlinear programming and robotics. We report on the experiences from this design study, illustrate the usefulness for relevant example cases, and discuss the extension to visual analytics for nonlinear programming in general.
Author Hägele, David
Weiskopf, Daniel
Toussaint, Marc
Abdelaal, Moataz
Oguz, Ozgur S
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BackLink https://doi.org/10.1145/3430036.3430050$$DView published paper (Access to full text may be restricted)
https://doi.org/10.48550/arXiv.2101.12075$$DView paper in arXiv
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Proceedings of the 13th International Symposium on Visual Information Communication and Interaction (2020), Article No. 10, Pages 1-8 Nonlinear programming...
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Computer Science - Human-Computer Interaction
Computer Science - Numerical Analysis
Computer Science - Robotics
Domains
Mathematics - Numerical Analysis
Motion planning
Nonlinear analysis
Nonlinear programming
Optimization
Problem solving
Robot dynamics
Robotics
Subject specialists
Troubleshooting
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Title Visualization of Nonlinear Programming for Robot Motion Planning
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