Multimodal Optimization
Project Goal
Develop a new optimization algorithm which finds all optimal solutions (modes) in a path optimization problem with applications to robotics.
Code
Under active development. Experimental version available at https://github.com/aorthey/MotionExplorer.
Contributors
Andreas Orthey, Marc Toussaint, Benjamin Frész
Publications
Andreas Orthey, Marc Toussaint, Visualizing Local Minima in Multi-Robot Motion Planning using Multilevel Morse Theory, WAFR 2020: Algorithmic Foundations of Robotics XIV (Springer Proceedings in Advanced Robotics), 2020, [PDF] [Video] [Bibtex]
Andreas Orthey, Benjamin Frész, Marc Toussaint, Motion Planning Explorer: Visualizing Local Minima using a Local-Minima Tree, Robotics and Automation Letters (RA-L), 2020, Selected for presentation at ICRA 2020 [PDF] [Presentation Video] [Bibtex]