Nonlinear Optimization

Fast redundancy resolution for high-dimensional robots executing prioritized tasks under hard bounds in the joint space
Using SVM to combine global heuristics for the Standard Quadratic Problem
New Problems and Innovative Methods in Nonlinear Optimization
Faster Motion on Cartesian Paths Exploiting Robot Redundancy at the Acceleration Level

The problem of minimizing the transfer time along a given Cartesian path for redundant robots can be approached in two steps, by separating the generation of a joint path associated to the Cartesian path from the exact minimization of motion time under kinematic/dynamic bounds along the obtained...
Guest editorial
Unilateral constraints in the Reverse Priority redundancy resolution method

Our recently developed Reverse Priority (RP) redundancy resolution method is extended here to the presence of unilateral constraints. The RP method computes the solution to a stack of prioritized tasks starting from the lowest priority one, and adding iteratively the contributions of higher...
A shifted-barrier primal-dual algorithm model for linearly constrained optmization problems
ITERATIVE COMPUTATION OF NEGATIVE CURVATURE DIRECTIONS IN LARGE SCALE OPTIMIZATION: THEORY AND PRELIMINARY NUMERICAL RESULTS
Erice 2007: Nonlinear Optimization
Quasi-Newton based preconditioning and damped quasi-Newton schemes for nonlinear conjugate gradient methods

In this paper, we deal with matrix-free preconditioners for nonlinear conjugate gradient (NCG) methods. In particular, we review proposals based on quasi-Newton updates, and either satisfying the secant equation or a secant-like equation at some of the previous iterates. Conditions are given...