Antonio Rios-Navarro

FPGA Hardware Neural Control of CartPole and F1TENTH Race Car

Latency and computational cost often limit the use of Nonlinear Model Predictive Control (NMPC) in real-time robotics. To address this limitation, our work investigates FPGA-implemented Neural Controllers (NC) trained through supervised learning, mimicking NMPC. We show that inexpensive embedded FPG