Elakhya Nedumaran

Code Generation and Conic Constraints for Model-Predictive Control on Microcontrollers with Conic-TinyMPC

Model-predictive control (MPC) is a state-of-the-art control method for constrained robotic systems, yet deployment on resource-limited hardware remains difficult. This challenge is magnified by expressive conic constraints, which offer greater modeling power but require significantly more computati…