Accelerated TinyMPC

This repository contains the implementation of Accelerated TinyMPC, a project focused on design space exploration of embedded architectures for real-time optimal control. It aims to profile, optimize, and accelerate TinyMPC workloads using scalar CPUs, vector architectures, and domain-specific accelerators. The project provides profiling and acceleration results; and demonstrates quantitative performance and area trade-offs across various architectures, aiming to find the most effective hardware optimizations for robotic model-based control algorithms.

Building on Ubuntu

1. On terminal, clone this repo

git clone [email protected]:TinyMPC/TinyMPC.git

2. Navigate to root directory and run

mkdir build && cd build

3. Run CMake configure step

cmake ../

4. Build TinyMPC

make 

Examples

• Run the quadrotor hovering example

./examples/example_quadrotor_hovering

• Run the codegen example then follow the same building steps inside that directory

./examples/example_codegen

Running on MCUs

To be documented

Notes