Abhishek Goud Pandala

qpSWIFT: A Real-Time Sparse Quadratic Program Solver for Robotic Applications

In this letter, we present qpSWIFT, a real-time quadratic program (QP) solver. Motivated by the need for a robust embedded QP solver in robotic applications, qpSWIFT employs standard primal-dual interior-point method, along with Mehrotra predictor–corrector steps and Nesterov–Todd scaling. The spars