2 papers
math.OC2021
IPM-MPC: An Efficient Null-Space Method Based Interior-Point Method for Model Predictive Control
Kai Pfeiffer, Ludovic Righetti
Linear Model Predictive Control (MPC) is a widely used method to control systems with linear dynamics. Efficient interior-point methods have been proposed which leverage the block…
cs.RO2020
Enabling Remote Whole-Body Control with 5G Edge Computing
Huaijiang Zhu, Manali Sharma, Kai Pfeiffer +4
Real-world applications require light-weight, energy-efficient, fully autonomous robots. Yet, increasing autonomy is oftentimes synonymous with escalating computational requirement…