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Linear complementarity, linear and nonlinear programming
01 Jan 1988-
About: The article was published on 1988-01-01 and is currently open access. It has received 1012 citations till now. The article focuses on the topics: Mixed complementarity problem & Complementarity theory.
Citations
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01 Jan 1996
TL;DR: In this article, the authors present a list of errata and some corrections for the PhD thesis "Max-Algebraic System Theory for Discrete Event Systems" (Fac. Applied Sciences, K.U.Leuven, Belgium, Feb. 1996).
Abstract: This is the list of errata and some corrections for the PhD thesis “Max-Algebraic System Theory for Discrete Event Systems” (Fac. Applied Sciences, K.U.Leuven, Belgium, Feb. 1996) of Bart De Schutter.
77 citations
Cites background from "Linear complementarity, linear and ..."
...For more information on the LCP and the various generalizations discussed above and for applications, properties and methods to solve these problems the interested reader is referred to [28, 29, 30, 39, 40, 48, 49, 71, 72, 73, 84, 85, 101, 102, 107, 113, 136, 137, 141, 150, 153, 154] and the references therein....
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TL;DR: In this note, a system of absolute value equations (AVEs) is reformulate as a standard linear complementarity problem (LCP) without any assumption and existence and convexity results for the solution set of the AVE are proposed.
Abstract: In this note, we reformulate a system of absolute value equations (AVEs) as a standard linear complementarity problem (LCP) without any assumption. Utilizing some known results for the LCP, existence and convexity results for the solution set of the AVE are proposed.
75 citations
12 May 1992
TL;DR: An approach to the simulation of mechanical systems with multiple, frictional constraints is proposed which is free of inconsistencies and illustrated with the help of a simple planar example.
Abstract: Two key problem areas in the dynamics of rigid bodies with multiple frictional contacts are solved. First, the modeling of rigid body collisions is addressed. Second, an accurate model that will predict the contact forces is sought. The emphasis is on correct phenomenological and quantitative modeling. An approach to the simulation of mechanical systems with multiple, frictional constraints is proposed which is free of inconsistencies. This method is illustrated with the help of a simple planar example. >
75 citations
TL;DR: In this article, a perturbed Newton-type method for solving linear complementarity problems with positive-semidefinite matrices was proposed, which converges Q-quadratically.
Abstract: The paper presents a damped and perturbed Newton-type method for solving linear complementarity problems with positive-semidefinite matricesM. In particular, the following properties hold: all occurring subproblems are linear equations; each subproblem is uniquely solvable without any assumption; every accumulation point generated by the method solves the linear complementarity problem. The additional property ofM to be an R0-matrix is sufficient, but not necessary, for the boundedness of the iterates. Provided thatM is positive definite on a certain subspace, the method converges Q-quadratically.
74 citations
14 May 2012
TL;DR: A particle filter is designed that incorporates tactile sensor data and performs quite well, especially during periods of visual occlusion, in which it is much better than the same filter without tactile data.
Abstract: Advanced grasp control algorithms could benefit greatly from accurate tracking of the object as well as an accurate all-around knowledge of the system when the robot attempts a grasp. This motivates our study of the G-SL(AM)2 problem, in which two goals are simultaneously pursued: object tracking relative to the hand and estimation of parameters of the dynamic model. We view the G-SL(AM)2 problem as a filtering problem. Because of stick-slip friction and collisions between the object and hand, suitable dynamic models exhibit strong nonlinearities and jump discontinuities. This fact makes Kalman filters (which assume linearity) and extended Kalman filters (which assume differentiability) inapplicable, and leads us to develop a particle filter. An important practical problem that arises during grasping is occlusion of the view of the object by the robot's hand. To combat the resulting loss of visual tracking fidelity, we designed a particle filter that incorporates tactile sensor data. The filter is evaluated off-line with data gathered in advance from grasp acquisition experiments conducted with a planar test rig. The results show that our particle filter performs quite well, especially during periods of visual occlusion, in which it is much better than the same filter without tactile data.
72 citations