CMC-Opt: Constraint Manifold with Corners for Inequality-Constrained Optimization
机器人学
2026-05-21 v1
摘要
We introduce a manifold-based framework for addressing optimization problems with equality and inequality constraints found in robotics. Our approach transforms the original problem into an unconstrained optimization problem directly on the constrained state space. To achieve this, we introduce ``constraint manifolds with corners" to represent the state space satisfying mixed nonlinear equality and inequality constraints. We further extend manifold optimization algorithms to operate on this new topological structure. We demonstrate the power and robustness of our framework in the context of a large-scale kinodynamic planning problem, successfully generating dynamically feasible trajectories where standard methods fail.
引用
@article{arxiv.2605.20796,
title = {CMC-Opt: Constraint Manifold with Corners for Inequality-Constrained Optimization},
author = {Yetong Zhang and Frank Dellaert},
journal= {arXiv preprint arXiv:2605.20796},
year = {2026}
}