SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain
Steve Tonneau,Daeun Song,Pierre Fernbach,Nicolas Mansard,Michel Taïx,Andrea Del Prete,Steve Tonneau,Daeun Song,Pierre Fernbach,Nicolas Mansard,Michel Taïx,Andrea Del Prete
One of the main challenges of planning legged locomotion in complex environments is the combinatorial contact selection problem. Recent contributions propose to use integer variables to represent which contact surface is selected, and then to rely on modern mixed-integer (MI) optimization solvers to handle this combinatorial issue. To reduce the computational cost of MI, we exploit the sparsity pr...
