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.

Report

For detailed insights into the design space exploration and performance evaluations, please refer to the attached report:
Design-Space-Exploration-of-Embedded-SoC-Architectures-for-Real-Time-Optimal-Control.pdf

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Usage

Building

1. On terminal, clone this repo

   git clone https://github.com/ucb-bar/Accelerated-TinyMPC.git
   cd Accelerated-TinyMPC
   
   

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/quadrotor_hovering

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

./examples/codegen_cartpole