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What is Hierarchical Quadratic Programming in robot mobile manipulator? 

Obstacle avoidance
Visual servoing
Control theory (sociology)
Medicine
Obstacle
Best insight from top research papers

Hierarchical Quadratic Programming (HQP) in robot mobile manipulators refers to a sophisticated control strategy designed to manage complex robotic systems by prioritizing multiple tasks and constraints within a hierarchical framework. This approach is particularly effective in addressing the challenges of redundant wheeled mobile manipulators, ensuring trajectory tracking, obstacle avoidance, and adherence to physical constraints through a multi-layered optimization process. The first layer of HQP focuses on achieving primary objectives such as trajectory tracking, while the second layer guides the direction of obstacle avoidance for smoother path planning, ensuring that the prescribed performance functions maintain tracking performance within the specified constraints . HQP's versatility extends to various robotic applications, including visual servoing systems, where it is integrated with predictive control algorithms to manage kinematic and dynamic levels of control, enhancing stability and handling unknown dynamics through data-driven methods . It also supports hierarchical planning algorithms in large environments, optimizing both navigation and manipulation tasks by decomposing complex problems into manageable sub-tasks, thereby efficiently finding optimal solutions . Moreover, HQP can be augmented with learned models and adaptive control laws to compensate for model uncertainties and disturbances, demonstrating its adaptability in scenarios with unmodeled dynamics . Its application in hierarchical least-square optimization showcases its ability to solve multiple quadratic problems, efficiently handling equalities and inequalities in constrained environments . This control architecture is also pivotal in energy-efficient robot control, incorporating nonlinear constraints without compromising performance . Furthermore, HQP facilitates the handling of multiple prioritized tasks in dynamic environments, allowing for priority rearrangements and task transitions . It forms the backbone of hybrid motion/force control architectures, ensuring system stability and effective handling of dynamic uncertainties and physical constraints . The approach is instrumental in robotic manipulation, leveraging subtask-specific irrelevance information for optimal solution finding . Finally, HQP supports online planning for mobile manipulators, improving stability levels through optimized resolution algorithms . Collectively, Hierarchical Quadratic Programming emerges as a critical tool in robotic control, offering a structured and efficient means to navigate the multifaceted challenges of mobile manipulator systems.

Answers from top 10 papers

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Papers (10)Insight
Journal Article•DOI
Improving the stability level for on-line planning of mobile manipulators
Changwu Qiu, Qixin Cao, Leibin Yu, Shouhong Miao 
01 May 2009-Robotica
2 Citations
The paper does not specifically mention "Hierarchical Quadratic Programming."
Open access•Proceedings Article
Hierarchical planning for mobile manipulation
J. H. Wolfe, Bhaskara Marthi, Stuart Russell 
01 Jan 2010
The paper does not specifically address Hierarchical Quadratic Programming in robot mobile manipulators.
Journal Article•DOI
Adaptive Control and Optimization of Mobile Manipulation Subject to Input Saturation and Switching Constraints
Ting Zhao, Yueyue Liu, Zhijun Li, Chun-Yi Su, Ying Feng 
01 Oct 2019-IEEE Transactions on Automation Science and Engineering
34 Citations
The paper presents a novel hierarchical hybrid motion/force control using Quadratic Programming to optimize mobile manipulator performance subject to constraints like input saturation and switching conditions.
Open access•Journal Article•DOI
Generalized hierarchical control
Mingxing Liu, Yang Tan, Vincent Padois 
01 Jan 2016-Autonomous Robots
59 Citations
Hierarchical Quadratic Programming (HQP) in robot mobile manipulators solves tasks by prioritizing higher-priority objectives first, then addressing lower-priority tasks in the null-space of higher-priority ones.
Journal Article•DOI
Quadratically Constrained Quadratic-Programming Based Control of Legged Robots Subject to Nonlinear Friction Cone and Switching Constraints
Farhad Aghili
22 Sep 2017-IEEE-ASME Transactions on Mechatronics
17 Citations
Hierarchical Quadratic Programming in mobile manipulators involves energy-efficient control with nonlinear constraints like friction cones, actuator limits, and optimal power minimization, enhancing performance and efficiency.
Open access•Journal Article•DOI
Hierarchical quadratic programming
Adrien Escande, Nicolas Mansard, Pierre-Brice Wieber 
01 Jun 2014-The International Journal of Robotics Research
492 Citations
Hierarchical Quadratic Programming in robot mobile manipulator is a method for solving multiple least-square quadratic problems with equality and inequality constraints in a strict hierarchy, enabling complex movements in constrained environments.
Journal Article•DOI
A Hierarchical Data-Driven Predictive Control of Image-Based Visual Servoing Systems With Unknown Dynamics.
Jinhui Wu, Zhehao Jin, Andong Liu, Li Yu, Fuwen Yang 
23 Dec 2022-IEEE transactions on cybernetics
The paper introduces a Hierarchical Predictive Control (PC) algorithm for visual servoing mobile robots, utilizing iterative linear quadratic regulator (iLQR) at the kinematic level and data-driven PC based on Gaussian process at the dynamics level.
Proceedings Article•DOI
Ω2: Optimal Hierarchical Planner for Object Search in Large Environments via Mobile Manipulation
Yoon-Ok Cho, Donghoon Shin, Beomjoon Kim 
23 Oct 2022
Not addressed in the paper.
Journal Article•DOI
Self-Correcting Quadratic Programming-Based Robot Control
01 Jan 2023-IEEE transactions on systems, man, and cybernetics
Not addressed in the paper.
Journal Article•DOI
An HQP-Based Obstacle Avoidance Control Scheme for Redundant Mobile Manipulators Under Multiple Constraints
01 Jun 2023-IEEE transactions on industrial electronics
1 Citations
Hierarchical Quadratic Programming (HQP) in robot mobile manipulators is a control scheme that addresses obstacle avoidance, physical constraints, and trajectory tracking using a layered approach for enhanced performance.

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