DC Field
Value
Language
dc.contributor.author
Sovukluk, Sait
-
dc.contributor.author
Ott, Christian
-
dc.contributor.editor
Choi, Hyunjin
-
dc.date.accessioned
2026-01-07T09:23:25Z
-
dc.date.available
2026-01-07T09:23:25Z
-
dc.date.issued
2025
-
dc.identifier.citation
<div class="csl-bib-body"> <div class="csl-entry">Sovukluk, S., &#38; Ott, C. (2025). An Efficient Numerical Function Optimization Framework for Constrained Nonlinear Robotic Problems. In H. Choi (Ed.), <i>14th IFAC Symposium on Robotics ROBOTICS 2025 : Proceedings</i> (pp. 403–408). International Federation of Automatic Control (IFAC). https://doi.org/10.1016/j.ifacol.2025.10.254</div> </div>
-
dc.identifier.uri
http://hdl.handle.net/20.500.12708/223606
-
dc.description.abstract
This paper presents a numerical function optimization framework designed for constrained optimization problems in robotics. The tool is designed with real-time considerations and is suitable for online trajectory and control input optimization problems. The proposed framework does not require any analytical representation of the problem and works with constrained block-box optimization functions. The method combines first-order gradient-based line search algorithms with constraint prioritization through nullspace projections onto constraint Jacobian space. The tool is implemented in C++ and provided online for community use, along with some numerical and robotic example implementations presented in the end.
en
dc.description.sponsorship
Ministry of Trade, industry and Energy, South Korea
-
dc.language.iso
en
-
dc.relation.ispartofseries
IFAC-PapersOnLine
-
dc.rights.uri
https://creativecommons.org/licenses/by-nc-nd/4.0/
-
dc.subject
Optimization
en
dc.subject
Constrained Nonlinear Robotic Problems
en
dc.subject
Numerical Function Optimization
en
dc.subject
Nonlinear System Optimization
en
dc.subject
Constrained Robotic Problem Optimization
en
dc.title
An Efficient Numerical Function Optimization Framework for Constrained Nonlinear Robotic Problems
en
dc.type
Inproceedings
en
dc.type
Konferenzbeitrag
de
dc.rights.license
Creative Commons Namensnennung - Nicht kommerziell - Keine Bearbeitungen 4.0 International
de
dc.rights.license
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
en
dc.contributor.editoraffiliation
Sangmyung University, Korea (the Republic of)
-
dc.relation.issn
2405-8963
-
dc.description.startpage
403
-
dc.description.endpage
408
-
dc.relation.grantno
RS-2024-00416440
-
dc.rights.holder
© 2025 The Authors
-
dc.type.category
Full-Paper Contribution
-
tuw.booktitle
14th IFAC Symposium on Robotics ROBOTICS 2025 : Proceedings
-
tuw.container.volume
59
-
tuw.peerreviewed
true
-
tuw.relation.publisher
International Federation of Automatic Control (IFAC)
-
tuw.project.title
Development of the AI-based autonomous task planning and robot teaching solution for highly complex manufacturing assembly process
-
tuw.researchTopic.id
I3
-
tuw.researchTopic.name
Automation and Robotics
-
tuw.researchTopic.value
100
-
tuw.publication.orgunit
E376-03 - Forschungsbereich Robotersysteme
-
tuw.publisher.doi
10.1016/j.ifacol.2025.10.254
-
dc.identifier.libraryid
AC17743720
-
dc.description.numberOfPages
6
-
tuw.author.orcid
0000-0003-0987-7493
-
dc.rights.identifier
CC BY-NC-ND 4.0
de
dc.rights.identifier
CC BY-NC-ND 4.0
en
tuw.event.name
Joint 14th IFAC Symposium on Robotics 2025 & 10th IFAC Symposium on Mechatronic Systems
en
tuw.event.startdate
15-07-2025
-
tuw.event.enddate
18-07-2025
-
tuw.event.online
On Site
-
tuw.event.type
Event for scientific audience
-
tuw.event.place
Paris
-
tuw.event.country
FR
-
tuw.event.presenter
Sovukluk, Sait
-
tuw.event.track
Multi Track
-
wb.sciencebranch
Elektrotechnik, Elektronik, Informationstechnik
-
wb.sciencebranch.oefos
2020
-
wb.sciencebranch.value
100
-
item.mimetype
application/pdf
-
item.openairetype
conference paper
-
item.openairecristype
http://purl.org/coar/resource_type/c_5794
-
item.cerifentitytype
Publications
-
item.languageiso639-1
en
-
item.openaccessfulltext
Open Access
-
item.grantfulltext
open
-
item.fulltext
with Fulltext
-
crisitem.author.dept
E376-03 - Forschungsbereich Robotersysteme
-
crisitem.author.dept
E376-03 - Forschungsbereich Robotersysteme
-
crisitem.author.orcid
0000-0003-0987-7493
-
crisitem.author.parentorg
E376 - Institut für Automatisierungs- und Regelungstechnik
-
crisitem.author.parentorg
E376 - Institut für Automatisierungs- und Regelungstechnik
-
crisitem.project.funder
Ministry of Trade, industry and Energy, South Korea
-
crisitem.project.grantno
RS-2024-00416440
-
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