In this paper, we present a method to initialize at a feasible point and unfailingly solve a non-convex optimization problem in which a set-point motion is planned for a multi-link manipulator under state and control constraints. We construct an initial feasible solution by analyzing the final time effect for feasibility problems of flatness based motion planning problems. More specifically, we first find a feasible time-optimal trajectory under state constraints without a control constraint by solving a linear programming problem. Then, we find a feasible trajectory under control constraints by scaling the trajectory. To evaluate the practical applicability of the proposed method, we did numerical experiments to solve a multi-link manipulator motion planning problem by combining the method with recursive inverse dynamics algorithms.
@cite_4 solved a problem by formulating control constraints as costs, which are soft constraints. We deal with control constraints as hard constraints to avoid the weight of control constraints, which vary depending on cost weight tuning.
@cite_4
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The cost of solving an initial value problem for ordinary differential equations to accuracy 2 is polynomial in ln e. Adaptive step-size control is never theoretically more costly than fixed step-size control, and can be an unbounded factor less costly. These results contradict the standard theory, but are based on more realistic assumptions. We consider the Knapsack Covering problem subject to a matroid constraint. In this problem, we are given an universe U of n items where item i has attributes: a cost c(i) and a size s(i). We also have a demand D. We are also given a matroid M = (U, I) on the set U. A feasible solution S to the problem is one such that (i) the cumulative size of the items chosen is at least D, and (ii) the set S is independent in the matroid M (i.e. S is in I). The objective is to minimize the total cost of the items selected, sum_ i in S c(i). Our main result proves a 2-factor approximation for this problem. The problem described above falls in the realm of mixed packing covering problems. We also consider packing extensions of certain other covering problems and prove that in such cases it is not possible to derive any constant factor pproximations. We consider a class of optimization problems where the input is an undirected graph with two weight functions defined for each node, namely the node's profit and its cost. The goal is to find a connected set of nodes of low cost and high profit. We present approximation algorithms for three natural optimization criteria that arise in this context, all of which are NP-hard. The budget problem asks for maximizing the profit of the set subject to a budget constraint on its cost. The quota problem requires minimizing the cost of the set subject to a quota constraint on its profit. Finally, the prize collecting problem calls for minimizing the cost of the set plus the profit (here interpreted as a penalty) of the complement set. For all three problems, our algorithms give an approximation guarantee of @math , where @math is the number of nodes. To the best of our knowledge, these are the first approximation results for the quota problem and for the prize collecting problem, both of which are at least as hard to approximate as the set cover. For the budget problem, our results improve on a previous @math result of Our methods involve new theorems relating tree packings to (node) cut conditions. We also show similar theorems (with better bounds) using edge cut conditions. These imply bounds for the analogous budget and quota problems with edge costs which are comparable to known (constant factor) bounds. This paper considers the vehicle routing problem with time windows, where the service of each customer must start within a specified time interval. We consider the Lagrangian relaxation of the constraint set requiring that each customer must be served by exactly one vehicle yielding a constrained shortest path subproblem. We present a stabilized cutting-plane algorithm within the framework of linear programming for solving the associated Lagrangian dual problem. This algorithm creates easier constrained shortest path subproblems because less negative cycles are introduced and it leads to faster multiplier convergence due to a stabilization of the dual variables. We have embedded the stabilized cutting-plane algorithm in a branch-and-bound search and introduce strong valid inequalities at the master problem level by Lagrangian relaxation. The result is a Lagrangian branch-and-cut-and-price (LBCP) algorithm for the VRPTW. Making use of this acceleration strategy at the master problem level gives a significant speed-up compared to algorithms in the literature based on traditional column generation. We have solved two test problems introduced in 2001 by Gehring and Homberger with 400 and 1000 customers respectively, which to date are the largest problems ever solved to optimality. We have implemented the LBCP algorithm using the ABACUS open-source framework for solving mixed-integer linear-programs by branch, cut, and price.