Mpcgpu: Real-time nonlinear model predictive control through preconditioned conjugate gradient on the gpu
E Adabag, M Atal, W Gerard… - 2024 IEEE International …, 2024 - ieeexplore.ieee.org
Nonlinear Model Predictive Control (NMPC) is a state-of-the-art approach for locomotion
and manipulation which leverages trajectory optimization at each control step. While the …
and manipulation which leverages trajectory optimization at each control step. While the …
Solving large problem sizes of index-digit algorithms on GPU: FFT and tridiagonal system solvers
AP Diéguez, M Amor, J Lobeiras… - IEEE Transactions on …, 2017 - ieeexplore.ieee.org
Current Graphics Processing Units (GPUs) are capable of obtaining high computational
performance in scientific applications. Nevertheless, programmers have to use suitable …
performance in scientific applications. Nevertheless, programmers have to use suitable …
Tridiagonal GPU solver with scaled partial pivoting at maximum bandwidth
C Klein, R Strzodka - Proceedings of the 50th International Conference …, 2021 - dl.acm.org
Partial pivoting is the method of choice to ensure stability in matrix factorizations performed
on CPUs. For sparse matrices, this has not been implemented on GPUs so far because of …
on CPUs. For sparse matrices, this has not been implemented on GPUs so far because of …
A Novel Compute-Efficient Tridiagonal Solver for Many-Core Architectures
K Liu, W Xue - IEEE Transactions on Parallel and Distributed …, 2022 - ieeexplore.ieee.org
The tridiagonal solver is an important kernel and is widely supported in mainstream
numerical libraries. While parallel algorithms have been studied for many-core architectures …
numerical libraries. While parallel algorithms have been studied for many-core architectures …
Simplified High-Performance Cost Aggregation for Stereo Matching
C Zhu, YZ Chang - Applied Sciences, 2023 - mdpi.com
Featured Application The guidance of uncrewed aerial/ground vehicles, high-end security,
surveillance, and various 3D manipulation, inspection, and measurements. Abstract …
surveillance, and various 3D manipulation, inspection, and measurements. Abstract …
Implementation of QR and LQ decompositions on shared memory parallel computing systems
V Egunov, A Andreev - 2016 2nd International Conference on …, 2016 - ieeexplore.ieee.org
The paper presents some results of research of applicability of various computing schemes
of implementing QR and LQ matrix decompositions for shared memory parallel systems …
of implementing QR and LQ matrix decompositions for shared memory parallel systems …
[图书][B] GPU Acceleration for Real-Time, Whole-Body, Nonlinear Model Predictive Controla
BK Plancher - 2022 - search.proquest.com
Whole-body, nonlinear model predictive control (MPC) refers to the control strategy where a
robot's state and input trajectories are continually optimized over a finite time horizon while …
robot's state and input trajectories are continually optimized over a finite time horizon while …
MPI-CUDA parallel linear solvers for block-tridiagonal matrices in the context of SLEPc's eigensolvers
AL Davina, JE Roman - Parallel computing, 2018 - Elsevier
We consider the computation of a few eigenpairs of a generalized eigenvalue problem A x=
λ B x with block-tridiagonal matrices, not necessarily symmetric, in the context of Krylov …
λ B x with block-tridiagonal matrices, not necessarily symmetric, in the context of Krylov …
[HTML][HTML] A parallel multithreaded sparse triangular linear system solver
İ Çuğu, M Manguoğlu - Computers & Mathematics with Applications, 2020 - Elsevier
We propose a parallel sparse triangular linear system solver based on the Spike algorithm.
Sparse triangular systems are required to be solved in many applications. Often, they are a …
Sparse triangular systems are required to be solved in many applications. Often, they are a …
Partitioning and Reordering for Spike-Based Distributed-Memory Parallel Gauss--Seidel
Gauss--Seidel (GS) is a widely used iterative method for solving sparse linear systems of
equations and also known to be effective as a smoother in algebraic multigrid methods …
equations and also known to be effective as a smoother in algebraic multigrid methods …