WarpMPC: Large-Batch MPC on GPU via ADMM with Unrolled $LD{L}^{\top }$ Factorization

Henrik Hose, Se Hwan Jeon, Charles Khazoom +2

This paper introduces numerical optimizations for maximizing throughput on GPU when solving large batches (10,000 to over 100,000) of sequential quadratic programming (SQP) iterati…