Section: New Results

Lexicographic Programming

Participants : Pierre-Brice Wieber, Alexander Sherikov, Dimitar Dimitrov, Adrien Escande.

Lexicographic Programming has proved to be a very valuable tool in the last few years for relaxing selectively various constraints and objectives in the control of complex systems such as biped humanoid robots. A major difficulty however is that solutions to such problems very often lie at singular points, making the convergence of standard Newton schemes difficult. We have shown this year how a trust region with filter method can help improve convergence, at least in simple situations [40].