TASK CONSTRAINTS SPECIFICATION VIA OPTIMIZED HYPERELLIPSOIDS

This paper proposes a method to numerically construe task constraints ellipsoids from bounded task domains. The nature of tasks and bounded task domains are discussed, and some geometric bounded domains are pre sented with their suitable hyperquadratic approximations. Analytical s olutions yielding their maximum volume substitute ellipsoids are compa red against the bounded domains themselves and against a competing max imum volume substitute box. The aforementioned numerical method is pre sented and is gauged against the known analytical solutions.