TRON: A Fast Solver for Trajectory Optimization with Non-smooth Cost Functions

If you are using this code, please cite our work using the following BIBTEX citation:

@inproceedings{DBLP:conf/cdc/VemulaB20,
  author    = {Anirudh Vemula and
               J. Andrew Bagnell},
  title     = {Tron: {A} Fast Solver for Trajectory Optimization with Non-Smooth
               Cost Functions},
  booktitle = {59th {IEEE} Conference on Decision and Control, {CDC} 2020, Jeju Island,
               South Korea, December 14-18, 2020},
  pages     = {4157--4163},
  publisher = {{IEEE}},
  year      = {2020},
  url       = {https://doi.org/10.1109/CDC42340.2020.9303915},
  doi       = {10.1109/CDC42340.2020.9303915},
  timestamp = {Tue, 19 Jan 2021 12:30:29 +0100},
  biburl    = {https://dblp.org/rec/conf/cdc/VemulaB20.bib},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

Install Dependencies

pip install -r requirements.txt

Create directories

./scripts/make_dirs.sh

How to Run Experiments

Lasso Problem with Synthetic Data

python -m TRON.main_lasso

Collision-Free Motion Planning for a Mobile Robot

python -m TRON.main --exp

Sparse Optimal Control for a Surgical Steerable Needle

python -m TRON.main_needle --exp

Satellite Rendezvous Problem

python -m TRON.main_satellite --exp

Contributors

The repository is maintained and developed by Anirudh Vemula from the Search Based Planning Laboratory (SBPL), and Learning and Artificial Intelligence Laboratory (LairLab) at CMU