arXiv:2010.12315
A Modular Framework for Distributed Model Predictive Control of Nonlinear Continuous-Time Systems (GRAMPC-D)
원문 초록
The modular open-source framework GRAMPC-D for model predictive control of distributed systems is presented in this paper. The modular concept allows to solve optimal control problems (OCP) in a centralized and distributed fashion using the same problem description. It is tailored to computational efficiency with the focus on embedded hardware. The distributed solution is based on the Alternating Direction Method of Multipliers (ADMM) and uses the concept of neighbor approximation to enhance convergence speed. The presented framework can be accessed through Cpp and Python and also supports plug-and-play and data exchange between agents over a network.
함께 살펴볼 논문
공통 태그를 근거로 연결했습니다. 실제 인용 관계나 논문의 우수성을 뜻하지 않습니다.
From Roots to Rewards: Dynamic Tree Reasoning with RL
DCR: Quantifying Data Contamination in LLMs Evaluation
U-RWKV: Lightweight medical image segmentation with direction-adaptive RWKV
$I^{2}$-World: Intra-Inter Tokenization for Efficient Dynamic 4D Scene Forecasting
Geo-ORBIT: A Federated Digital Twin Framework for Scene-Adaptive Lane Geometry Detection
Decomposing the Time Series Forecasting Pipeline: A Modular Approach for Time Series Representation, Information Extraction, and Projection
토론
이 논문과 연결된 포럼 글이 아직 없습니다.