Conic-TinyMPC adds second-order cone support and code generation to TinyMPC, delivering up to 142.7x speedup on embedded QP and SOCP problems for model-predictive control.
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TAG-K combines greedy randomized Kaczmarz row selection with tail averaging to deliver faster convergence and noise robustness for online inertial parameter estimation in robotics.
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Code Generation and Conic Constraints for Model-Predictive Control on Microcontrollers with Conic-TinyMPC
Conic-TinyMPC adds second-order cone support and code generation to TinyMPC, delivering up to 142.7x speedup on embedded QP and SOCP problems for model-predictive control.
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TAG-K: Tail-Averaged Greedy Kaczmarz for Computationally Efficient and Performant Online Inertial Parameter Estimation
TAG-K combines greedy randomized Kaczmarz row selection with tail averaging to deliver faster convergence and noise robustness for online inertial parameter estimation in robotics.