| Bibliography | Schwarz, David: A comparision of interior point and SQP methods with augmented Lagrangian methods in robotics applications.
University of Stuttgart, Faculty of Computer Science, Electrical Engineering, and Information Technology, Bachelor Thesis (2016).
45 pages, english.
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| CR-Schema | I.2.9 (Robotics)
G.1.6 (Numerical Analysis Optimization)
G.4 (Mathematical Software)
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| Abstract | This Paper intends to interface the existing MLR Framework KOMO with two solvers for non linear optimization Problems. These solvers are the Interior Point Method implemented in IPOPT and the sequential quadratic Programming Method SLSQP implemented in NLOPT. In the second step I will compare these two Methods with KOMOs internal augmented Lagrangian Method in terms of precision, required number of evaluations and any-time (before convergence) quality of solutions.
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Full text and
other links | PDF (627441 Bytes)
Access to students' publications restricted to the faculty due to current privacy regulations |
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| Department(s) | University of Stuttgart, Institute of Parallel and Distributed Systems, Machine Learning und Robotics
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| Superviser(s) | Toussaint, Prof. Marc |
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| Entry date | September 26, 2018 |
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