ArticleProceedings of the ... IEEE Conference on Decision & Control. IEEE Conference on Decision & Control2014
Optimization on the space of rigid and flexible motions: an alternative manifold optimization approach.
Article in Proceedings of the ... IEEE Conference on Decision & Control. IEEE Conference on Decision & Control, 2014. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
In this paper we consider the problem of minimization of a cost function that depends on the location and poses of one or more rigid bodies, or bodies that consist of rigid parts hinged together. We present a unified setting for formulating this problem as an optimization on an appropriately defined manifold for which efficient manifold optimizations can be developed. This setting is based on a Lie group representation of the rigid movements of a body that is different from what is commonly used for this purpose. We illustrate this approach by using the steepest descent algorithm on the manifold of the search space and specify conditions for its convergence.
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