SympOCnet: Solving Optimal Control Problems with Applications to High-Dimensional Multiagent Path Planning Problems
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Publication:5058288
DOI10.1137/22M1472206zbMATH Open1504.49052arXiv2201.05475OpenAlexW4226514654MaRDI QIDQ5058288FDOQ5058288
Authors: Tingwei Meng, Zhen Zhang, Jérôme Darbon, George Em Karniadakis 
Publication date: 20 December 2022
Published in: SIAM Journal on Scientific Computing (Search for Journal in Brave)
Abstract: Solving high-dimensional optimal control problems in real-time is an important but challenging problem, with applications to multi-agent path planning problems, which have drawn increased attention given the growing popularity of drones in recent years. In this paper, we propose a novel neural network method called SympOCnet that applies the Symplectic network to solve high-dimensional optimal control problems with state constraints. We present several numerical results on path planning problems in two-dimensional and three-dimensional spaces. Specifically, we demonstrate that our SympOCnet can solve a problem with more than 500 dimensions in 1.5 hours on a single GPU, which shows the effectiveness and efficiency of SympOCnet. The proposed method is scalable and has the potential to solve truly high-dimensional path planning problems in real-time.
Full work available at URL: https://arxiv.org/abs/2201.05475
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Artificial neural networks and deep learning (68T07) Numerical methods based on nonlinear programming (49M37) Numerical methods involving duality (49M29) Numerical methods of relaxation type (49M20)
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Cited In (5)
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