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simmediumlocomotionmetric · varies
Characterizing and Optimizing Real-Time Optimal Control for Embedded SoCs
Description
Resource-limited robots face significant challenges in executing computationally intensive tasks, such as locomotion and manipulation, particularly for real-time optimal control algorithms like Model Predictive Control (MPC). This paper provides a comprehensive design space exploration to identify optimal hardware computation architectures for these demanding model-based control algorithms. We profile and optimize representative architectural designs, including general-purpose scalar CPUs, vecto