Humanoid robots walking across intermittent terrain, robotic arms grasping multifaceted objects, or UAVs
darting left or right around a tree — many of the dynamics and control problems we face today have an
inherently combinatorial structure. In this talk, I’ll review some recent work on planning and control
methods that address this combinatorial structure without sacrificing the rich underlying nonlinear
dynamics. I’ll present some details of our explorations with mixed-integer convex- and SDP-relaxations
applied to hard problems in legged locomotion over rough terrain, grasp optimization, and UAVs flying
through highly cluttered environments.
https://mediaspace.gatech.edu/media/tedrake.mpg/1_08sat3gk