{"paper":{"title":"Efficient Lexicographic Optimization for Prioritized Robot Control and Planning","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Abderrahmane Kheddar, Kai Pfeiffer","submitted_at":"2024-03-14T08:16:50Z","abstract_excerpt":"In this work, we present several tools for efficient sequential hierarchical least-squares programming (S-HLSP) for lexicographical optimization tailored to robot control and planning. As its main step, S-HLSP relies on approximations of the original non-linear hierarchical least-squares programming (NL-HLSP) to a hierarchical least-squares programming (HLSP) by the hierarchical Newton's method or the hierarchical Gauss-Newton algorithm. We present a threshold adaptation strategy for appropriate switches between the two. This ensures optimality of infeasible constraints, promotes numerical sta"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.09160","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2403.09160/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}