Exploiting Parallelism in a QPALM-based Solver for Optimal Control
arXiv:2603.11723
Abstract
We discuss the opportunities for parallelization in the recently proposed QPALM-OCP algorithm, a solver tailored to quadratic programs arising in optimal control. A significant part of the computational work can be carried out independently for the different stages in the optimal control problem. We exploit this specific structure to apply parallelization and vectorization techniques in an optimized C++ implementation of the method. Results for optimal control benchmark problems and comparisons to the original QPALM method are provided.
Presented at Robotics: Science and Systems 2024 Workshop: Frontiers of optimization for robotics (RSS 2024), Delft, The Netherlands, July 2024