LMPC-HR sampler cuts computation time by roughly 10x for uniform sampling from polyhedral feasible sets of linear MPC by replacing iterative boundary searches with one convex LP per sample.
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Efficient Uniform Feasible Set Sampling for Approximate Linear MPC
LMPC-HR sampler cuts computation time by roughly 10x for uniform sampling from polyhedral feasible sets of linear MPC by replacing iterative boundary searches with one convex LP per sample.