5 papers
Real-Time, Energy-Efficient, Sampling-Based Optimal Control via FPGA Acceleration
Tanmay Desai, Brian Plancher, R. Iris Bahar
Autonomous mobile robots (AMRs), used for search-and-rescue and remote exploration, require fast and robust planning and control schemes. Sampling-based approaches for Model Predic…
Robust and Efficient Embedded Convex Optimization through First-Order Adaptive Caching
Ishaan Mahajan, Brian Plancher
Recent advances in Model Predictive Control (MPC) leveraging a combination of first-order methods, such as the Alternating Direction Method of Multipliers (ADMM), and offline preco…
Set Phasers to Stun: Beaming Power and Control to Mobile Robots with Laser Light
Charles J. Carver, Hadleigh Schwartz, Toma Itagaki +7
We present Phaser, a flexible system that directs narrow-beam laser light to moving robots for concurrent wireless power delivery and communication. We design a semi-automatic cali…
Polynomial and Parallelizable Preconditioning for Block Tridiagonal Positive Definite Matrices
Shaohui Yang, Toshiyuki Ohtsuka, Brian Plancher +1
The efficient solution of moderately large-scale linear systems arising from the KKT conditions in optimal control problems (OCPs) is a critical challenge in robotics. With the sta…
pRRTC: GPU-Parallel RRT-Connect for Fast, Consistent, and Low-Cost Motion Planning
Chih H. Huang, Pranav Jadhav, Brian Plancher +1
Sampling-based motion planning algorithms, like the Rapidly-Exploring Random Tree (RRT) and its widely used variant, RRT-Connect, provide efficient solutions for high-dimensional p…