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FUTURE.md

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Future Work

Some possible directions for future work.

Multiple trajectories

The optimization interface is "user friendly" if the user can make the "best" decisions with the most "relevant" information. (Other definitions are welcome.) Towards making a user friendly interface, one great test case involves decision amongst trajectories to choose from.

  • Displays multiple trajectories and their advantages/disadvangaes
  • Select trajectory
  • Click and drag trajectory

For example, we can visualize state changes over time, or some experiments in

  • steepest bank angle display
  • fastest point
  • does it reach target, etc.

Dynamics

We should provide a suite of agent dynamics.

  • double integrator
  • linear system
  • 6-dof vehicle dynamics (i.e. rocket)
  • orbital dynamics
  • robotic arm (lie groups)

Other test cases for the "reinforcement learning" crowd.

  • cart pole
  • contact dynamics (legged)
  • etc...

Python and MATLAB integration

Python is used heavily in robotics, in particular in image recognition or planning. A wrapper for our C/C++ libraries is essential for adoption.

  • PY: A library for interfacing with the socp and cprs packages. Possibly through cvxpy's standarized interface.
  • PY: A library for interfacing with the algorithms package
  • MATLAB: interfaces with algorithms package