{
  "id": "2208.13158",
  "version": "v1",
  "published": "2022-08-28T07:45:57.000Z",
  "updated": "2022-08-28T07:45:57.000Z",
  "title": "Benchmark Results for Bookshelf Organization Problem as Mixed Integer Nonlinear Program with Mode Switch and Collision Avoidance",
  "authors": [
    "Xuan Lin",
    "Gabriel I. Fernandez",
    "Dennis W. Hong"
  ],
  "comment": "arXiv admin note: substantial text overlap with arXiv:2110.00666",
  "categories": [
    "math.OC",
    "cs.RO"
  ],
  "abstract": "Mixed integer convex and nonlinear programs, MICP and MINLP, are expressive but require long solving times. Recent work that combines data-driven methods on solver heuristics has shown potential to overcome this issue allowing for applications on larger scale practical problems. To solve mixed-integer bilinear programs online with data-driven methods, several formulations exist including mathematical programming with complementary constraints (MPCC), mixed-integer programming (MIP). In this work, we benchmark the performances of those data-driven schemes on a bookshelf organization problem that has discrete mode switch and collision avoidance constraints. The success rate, optimal cost and solving time are compared along with non-data-driven methods. Our proposed methods are demonstrated as a high level planner for a robotic arm for the bookshelf problem.",
  "revisions": [
    {
      "version": "v1",
      "updated": "2022-08-28T07:45:57.000Z"
    }
  ],
  "analyses": {
    "keywords": [
      "mixed integer nonlinear program",
      "bookshelf organization problem",
      "collision avoidance",
      "mode switch",
      "benchmark results"
    ],
    "note": {
      "typesetting": "TeX",
      "pages": 0,
      "language": "en",
      "license": "arXiv",
      "status": "editable"
    }
  }
}