Jonas Hall
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Jonas Hall has a total of 9 co-authors. Here are the top co-authors by number of shared publications:
- Anirban Sinha1 shared publication
- Armin Nurkanović
Department of Microsystems Engineering (IMTEK), University of Freiburg, Freiburg, Germany
1 shared publication - Florian Messerer
Department of Microsystems Engineering, University of Freiburg, Freiburg, Germany
1 shared publication Haowen Yao
1 shared publication- Luis F. C. Figueredo1 shared publication
- Moritz Diehl
Department of Microsystems Engineering (IMTEK) and Department of Mathematics, University of Freiburg, Freiburg, Germany
1 shared publication
Latest Publications
- 16 December 2024
- Published by Springer Nature in Mathematical Programming Computation
- Vol. 17 (1) , 81-109
LCQPow: a solver for linear complementarity quadratic programs
- 16 December 2024
- Published by Springer Nature in Mathematical Programming Computation
- Vol. 17 (1) , 81-109
LCQPow: a solver for linear complementarity quadratic programs
- Open Access
On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach
This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard. Optimization-based planners can tackle confined-space trajectory planning while being cognizant of robot constraints. However, introducing obstacles in this setting transforms the formulation into a non-convex problem (oftentimes with ill-posed bilinear constraints), which is non-trivial in a real-time setting. To this end, we present the FLIQC (Fast LInear Quadratic Complementarity based) motion planner. Our planner employs a novel motion model that captures the entire rigid robot as well as the obstacle geometry and ensures non-penetration between the surfaces due to the imposed constraint. We perform thorough comparative studies with the state-of-the-art, which demonstrate improved performance. Extensive simulation and hardware experiments validate our claim of generating continuous and reactive motion plans at 1 kHz for modern collaborative robots with constant minimal parameters.
Open AccessOn the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach
This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard. Optimization-based planners can tackle confined-space trajectory planning while being cognizant of robot constraints. However, introducing obstacles in this setting transforms the formulation into a non-convex problem (oftentimes with ill-posed bilinear constraints), which is non-trivial in a real-time setting. To this end, we present the FLIQC (Fast LInear Quadratic Complementarity based) motion planner. Our planner employs a novel motion model that captures the entire rigid robot as well as the obstacle geometry and ensures non-penetration between the surfaces due to the imposed constraint. We perform thorough comparative studies with the state-of-the-art, which demonstrate improved performance. Extensive simulation and hardware experiments validate our claim of generating continuous and reactive motion plans at 1 kHz for modern collaborative robots with constant minimal parameters.