Nonlinear Optimization
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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...
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We propose a class of preconditioners for large positive definite linear systems, arising in nonlinear optimization frameworks. These preconditioners can be computed as by-product of Krylov-subspace solvers. Preconditioners in our class are chosen by setting the values of some user-dependent...
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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...