Constraint Manifolds for Robotic Inference and Planning
Yetong Zhang,Fan Jiang,Gerry Chen,Varun Agrawal,Adam Rutkowski,Frank Dellaert,Yetong Zhang,Fan Jiang,Gerry Chen,Varun Agrawal,Adam Rutkowski,Frank Dellaert
We propose a manifold optimization approach for solving constrained inference and planning problems. The approach employs a framework that transforms an arbitrary nonlinear equality constrained optimization problem into an unconstrained manifold optimization problem. The core of the transformation process is the formulation of constraint manifolds that represent sets of variables subject to equali...
