GPU-SLS computes safe robust nonlinear MPC policies online in ~20 ms for up to 75D systems by reachability-constrained system level synthesis accelerated via custom GPU QP solvers.
A parallel-in-time newton’s method for nonlinear model predictive control.IEEE Transactions on Control Systems Technology
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Safe Large-Scale Robust Nonlinear MPC in Milliseconds via Reachability-Constrained System Level Synthesis on the GPU
GPU-SLS computes safe robust nonlinear MPC policies online in ~20 ms for up to 75D systems by reachability-constrained system level synthesis accelerated via custom GPU QP solvers.