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In this extended abstract, we report on ongoing work towards an approximate multimodal optimization algorithm with asymptotic guarantees. Multimodal optimization is the problem of finding all local optimal solutions (modes) to a path optimization problem. This is important to compress path databases, as contingencies for replanning and as source of symbolic representations. Following ideas from Morse theory, we define modes as paths invariant under optimization of a cost functional. We develop a multi-mode estimation algorithm which approximately finds all modes of a given motion optimization problem and asymptotically converges. This is made possible by integrating sparse roadmaps with an existing single-mode optimization algorithm. Initial evaluation results show the multi-mode estimation algorithm as a promising direction to study path spaces from a topological point of view.
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only sub-optimal so
In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse factor graphs
This paper considers the problem of multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a
This paper introduces a novel motion planning algorithm, incrementally stochastic and accelerated gradient information mixed optimization (iSAGO), for robotic manipulators in a narrow workspace. Primarily, we propose the overall scheme of iSAGO integ
Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for example t