πMPC is a parallel-in-horizon, construction-free nonlinear MPC solver that uses ADMM with a new variable-splitting scheme and velocity-based representation to run directly on system matrices.
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$\pi$MPC: A Parallel-in-horizon and Construction-free NMPC Solver
πMPC is a parallel-in-horizon, construction-free nonlinear MPC solver that uses ADMM with a new variable-splitting scheme and velocity-based representation to run directly on system matrices.