Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Combining Method of Alternating Projections and Augmented Lagrangian for
  Task Constrained Trajectory Optimization   Motion planning for manipulators under task space constraints is difficult as
it constrains the joint configurations to always lie on an implicitly defined
manifold. It is possible to view task constrained motion planning as an
optimization problem with non-linear equality constraints which can be solved
by general non-linear optimization techniques. In this paper, we present a
novel custom optimizer which exploits the underlying structure present in many
task constraints.
  At the core of our approach are some simple reformulations, which when
coupled with the \emph{method of alternating projection}, leads to an efficient
convex optimization based routine for computing a feasible solution to the task
constraints. We subsequently build on this result and use the concept of
Augmented Lagrangian to guide the feasible solutions towards those which also
minimize the user defined cost function. We show that the proposed optimizer is
fully distributive and thus, can be easily parallelized. We validate our
formulation on some common robotic benchmark problems. In particular, we show
that the proposed optimizer achieves cyclic motion in the joint space
corresponding to a similar nature trajectory in the task space. Furthermore, as
a baseline, we compare the proposed optimizer with an off-the-shelf non-linear
solver provide in open source package SciPy. We show that for similar task
constraint residuals and smoothness cost, it can be upto more than three times
faster than the SciPy alternative.

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The categories of this paper are: q-bio
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The categories of this paper are: nucl-th
18
The categories of this paper are: econ
9
The categories of this paper are: nlin
3
The categories of this paper are: physics
34
The categories of this paper are: chem-ph
0
The categories of this paper are: hep-ph
30
The categories of this paper are: q-alg
26
The categories of this paper are: bayes-an
5
The categories of this paper are: gr-qc
2
The categories of this paper are: math
31
The categories of this paper are: ao-sci
36
The categories of this paper are: cmp-lg
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The categories of this paper are: supr-con
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The categories of this paper are: acc-phys
29
The categories of this paper are: funct-an