  Nonlinear programming targets nonlinear optimization with constraints, which
is a generic yet complex methodology involving humans for problem modeling and
algorithms for problem solving. We address the particularly hard challenge of
supporting domain experts in handling, understanding, and trouble-shooting
high-dimensional optimization with a large number of constraints. Leveraging
visual analytics, users are supported in exploring the computation process of
nonlinear constraint optimization. Our system was designed for robot motion
planning problems and developed in tight collaboration with domain experts in
nonlinear programming and robotics. We report on the experiences from this
design study, illustrate the usefulness for relevant example cases, and discuss
the extension to visual analytics for nonlinear programming in general.
