Dynamic Optimization Fabrics for Motion Generation

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Optimization fabrics are a geometric approach to real-time local motion generation, where motions are designed by the composition of several differential equations that exhibit a desired motion behavior. We generalize this framework to dynamic scenarios and nonholonomic robots and prove that fundamental properties can be conserved. We show that convergence to desired trajectories and avoidance of moving obstacles can be guaranteed using simple construction rules of the components. In addition, we present the first quantitative comparisons between optimization fabrics and model predictive control and show that optimization fabrics can generate similar trajectories with better scalability, and thus, much higher replanning frequency (up to 500 Hz with a 7 degrees of freedom robotic arm). Finally, we present empirical results on several robots, including a nonholonomic mobile manipulator with 10 degrees of freedom and avoidance of a moving human, supporting the theoretical findings.

Original languageEnglish
Pages (from-to)2684-2699
JournalIEEE Transactions on Robotics
Issue number4
Publication statusPublished - 2023

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Dynamics
  • Fabrics
  • Geometric control
  • mobile manipulation
  • motion control of manipulators
  • nonholonomic motion planning
  • Optimization
  • Planning
  • Robot kinematics
  • Robots
  • Task analysis


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