InCOpt: Incremental Constrained Optimization using the Bayes Tree
Mohamad Qadri,Paloma Sodhi,Joshua G. Mangelson,Frank Dellaert,Michael Kaess,Mohamad Qadri,Paloma Sodhi,Joshua G. Mangelson,Frank Dellaert,Michael Kaess
In this work, we investigate the problem of incre-mentally solving constrained non-linear optimization problems formulated as factor graphs. Prior incremental solvers were either restricted to the unconstrained case or required periodic batch relinearizations of the objective and constraints which are expensive and detract from the online nature of the algorithm. We present InCOpt, an Augmented La...
