HPIPM with a sparse MPC formulation is the fastest solver, and the Jetson ARM board is the most power-efficient platform according to the new Solve Frequency per Watt metric.
Model predictive control of legged and humanoid robots: models and algorithms,
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Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking
HPIPM with a sparse MPC formulation is the fastest solver, and the Jetson ARM board is the most power-efficient platform according to the new Solve Frequency per Watt metric.