This is an open-source, BSD licensed library for task level robot control using non-linear inequality constraints. The source code and installation instructions can be found at https://github.com/nsomani/constraint-controller-library
This implementation is based on concepts described in the following publications:
@inproceedings{Somani2016a,
author = {Nikhil Somani, Markus Rickert, Andre Gaschler, Caixia Cai, Alexander Perzylo, Alois Knoll},
title = {Task level robot programming using prioritized non-linear inequality constraints},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
address = {Daejeon, Republic of Korea},
month = {October},
year = {2016}
}
@article{Somani2017a,
title = {An exact solver for geometric constraints with inequalities},
author = {Nikhil Somani, Markus Rickert, Aloid Knoll},
journal = {IEEE Robotics and Automation Letters},
year = {2017},
month = {April},
volume = {2},
number = {2},
pages = {1148-1155},
doi = {10.1109/LRA.2017.2655113},
issn = {2377-3766},
note = {accepted for presentation at ICRA 2017}
}