Robust State Estimation Using Mixed Integer Programming

path planning of manipulator robots using mixed integer nonlinear programming

in this paper a new method is proposed for path planning of planar manipulators amid obstacles through mathematical programming in a way that the robot’s links avoid collision with obstacles throughout their motion from an initial to a goal configuration. after inputting the workspace geometry, the shortest feasible path for the robot’s end-effector is planned toward its goal position using gen...

Trajectory Optimization using Mixed-Integer Linear Programming

This thesis presents methods for finding optimal trajectories for vehicles subjected to avoidance and assignment requirements. The former include avoidance of collisions with obstacles or other vehicles and avoidance of thruster plumes from spacecraft. Assignment refers to the inclusion of decisions about terminal constraints in the optimization, such as assignment of waypoints to UAVs and the ...

Benders Decomposition Approach to Robust Mixed Integer Programming

Mixed Integer Programming Computation

The first 50 years of Integer and Mixed-Integer Programming have taken us to a very stable paradigm for solving problems in a reliable and effective way. We run over these 50 exciting years by showing some crucial milestones and we highlight the building blocks that are making nowadays solvers effective from both a performance and an application viewpoint. Finally, we show that a lot of work mu...

Mixed-Integer Nonlinear Programming

Recently, the area of Mixed Integer Nonlinear Programming (MINLP) has experienced tremendous growth and a flourish of research activity. In this article we will give a brief overview of past developments in the MINLP arena and discuss some of the future work that can foster the development of MINLP in general and, in particular, robust solver technology for the practical solution of problems.