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cs.RO2026
CUDA MPC: A GPU-Native Solver for Model Predictive Control
Babak Akbari, Melissa Greeff
Model Predictive Control (MPC) delivers constraint-aware control, but its reliance on online optimization limits its use on systems with fast dynamics, high-dimensional models, or…
cs.RO2024
Tiny Learning-Based MPC for Multirotors: Solver-Aware Learning for Efficient Embedded Predictive Control
Babak Akbari, Justin Frank, Melissa Greeff
Tiny aerial robots hold great promise for applications such as environmental monitoring and search-and-rescue, yet face significant control challenges due to limited onboard comput…
cs.RO2024
A Computationally Efficient Learning-Based Model Predictive Control for Multirotors under Aerodynamic Disturbances
Babak Akbari, Melissa Greeff
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predict…