Efficient Optimization of Control Libraries

Debadeepta Dey, Tommy Liu, Boris Sofman, and J. Andrew (Drew) Bagnell
tech. report CMU-RI-TR-11-20, Robotics Institute, Carnegie Mellon University, July, 2011


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Abstract
A popular approach to high dimensional control problems in robotics uses a library of candidate ``maneuvers" or ``trajectories". The library is either evaluated on a fixed number of candidate choices at runtime (e.g. path set selection for planning) or by iterating through a sequence of feasible choices until success is achieved (e.g. grasp selection). The performance of the library relies heavily on the content and order of the sequence of candidates. We propose a provably efficient method to optimize such libraries leveraging recent advances in optimizing sub-modular functions of sequences. This approach is demonstrated on two important problems: mobile robot navigation and manipulator grasp set selection. In the first case, performance can be improved by choosing a subset of candidates which optimizes the metric under consideration (cost of traversal). In the second case, performance can be optimized by minimizing the depth the list is searched before a successful candidate is found. Our method can be used in both on-line and batch settings with provable performance guarantees, and can be run in an anytime manner to handle real-time constraints.

Keywords
Control Libraries, submodular, online, optimization, path planning, manipulation, grasp, trajectories

Notes
Sponsor: Army Research Laboratories through R-CTA and Defense Advanced Research Projects Agency through ARM-D

Text Reference
Debadeepta Dey, Tommy Liu, Boris Sofman, and J. Andrew (Drew) Bagnell, "Efficient Optimization of Control Libraries," tech. report CMU-RI-TR-11-20, Robotics Institute, Carnegie Mellon University, July, 2011

BibTeX Reference
@techreport{Dey_2011_6873,
   author = "Debadeepta Dey and Tian Yu Liu and Boris Sofman and J. Andrew (Drew) Bagnell",
   title = "Efficient Optimization of Control Libraries",
   booktitle = "",
   institution = "Robotics Institute",
   month = "July",
   year = "2011",
   number= "CMU-RI-TR-11-20",
   address= "Pittsburgh, PA",
}