TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers - Nguyen, Khai; Schoedel, Sam; Alavilli, Anoushka; Plancher, Brian; Manchester, Zachary (2024 IEEE International Conference on Robotics and Automation (ICRA), 2024)
Keywords: Collision avoidance; Convex functions; Hardware; Microcontrollers; Predictive control; Robots; Trajectory tracking