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.
Feasible samples are indicated by the green dots and infeasible samples by the red dots
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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.