Jeffrey Fang

Safe Large-Scale Robust Nonlinear MPC in Milliseconds via Reachability-Constrained System Level Synthesis on the GPU

We present GPU-SLS, a GPU-parallelized framework for provably safe, robust nonlinear model predictive control (MPC) that scales to high-dimensional uncertain robotic systems and long planning horizons. Our method jointly optimizes an inequality-constrained, dynamically-feasible nominal trajectory, a…