March 15, 2024
SNOPT
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Make Regions with IRIS-NP
Motion Planning with GCS
Motion Planning with FPP
GCS-A*
Nonconvex Variants of GCS
GCS as a Policy
GCS + MCTS
Make Regions with C-IRIS
Clique Seeding
Initializing SNOPT is hard, and many programs must be run to imply collision-free
Need to run programs for every collision pair, so potentially quadratic runtime in number of geometries
Mostly in corners of regions. Due to pathologies and simply scale issues
Intuition: It's hard for SNOPT to push an infeasible initialization to infeasibility
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Key idea: Only start SNOPT at points known to be in collision by drawing samples
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Some notes...
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sample
find collisions
parallel bisection search
rank samples by distance under the metric
 place faces in order
resample and repeat
repeat until no collisions found
Quality of candidates matters
 smaller regions, more faces
Raycasting to find collisions
Iris benchmarks
2
3
5
6
7
7
7
14
DoF Increasing
DoF Increasing
Algorithm Settings IrisInConfigurationSpace
Algorithm Settings GreedyIris
Algorithm Settings FastIris
HARD TO CALIBRATE
Faster
Smaller Volume More Faces
Slower
Larger Volume
Fewer Faces
FastIRIS
RayIRIS ?
IRIS-NP
GreedyIRIS
C-IRIS