Related papers: Safe Large-Scale Robust Nonlinear MPC in Milliseco…

In recent years, GPU-accelerated optimization solvers based on second-order methods (e.g., interior-point methods) have gained momentum with the advent of mature and efficient GPU-accelerated direct sparse linear solvers, such as cuDSS.…

Aggregate Risk Analysis is a computationally intensive and a data intensive problem, thereby making the application of high-performance computing techniques interesting. In this paper, the design and implementation of a parallel Aggregate…

The introduction of AI and ML technologies into medical devices has revolutionized healthcare diagnostics and treatments. Medical device manufacturers are keen to maximize the advantages afforded by AI and ML by consolidating multiple…

Model Predictive Control (MPC) is a successful control methodology, which is applied to increasingly complex systems. However, real-time feasibility of MPC can be challenging for complex systems, certainly when an (extremely) large number…

Fine-grained workload and resource balancing is the key to high performance for regular and irregular computations on the GPUs. In this dissertation, we conduct an extensive survey of existing load-balancing techniques to build an…

We leverage physics-embedded differentiable graph network simulators (GNS) to accelerate particulate and fluid simulations to solve forward and inverse problems. GNS represents the domain as a graph with particles as nodes and learned…

We present an accurate and GPU-accelerated Stereo Visual SLAM design called Jetson-SLAM. It exhibits frame-processing rates above 60FPS on NVIDIA's low-powered 10W Jetson-NX embedded computer and above 200FPS on desktop-grade 200W GPUs,…

We present a robust model predictive control method (MPC) for discrete-time linear time-delayed systems with state and control input constraints. The system is subject to both polytopic model uncertainty and additive disturbances. In the…

Modern computing platforms tend to deploy multiple GPUs (2, 4, or more) on a single node to boost system performance, with each GPU having a large capacity of global memory and streaming multiprocessors (SMs). GPUs are an expensive…

We push the boundaries of electronic structure-based \textit{ab-initio} molecular dynamics (AIMD) beyond 100 million atoms. This scale is otherwise barely reachable with classical force-field methods or novel neural network and machine…

This article presents new algorithms for massively parallel granular dynamics simulations on distributed memory architectures using a domain partitioning approach. Collisions are modelled with hard contacts in order to hide their…

We design an model predictive control (MPC) approach for planning and control of non-holonomic mobile robots. Linearizing the system dynamics around the pre-computed reference trajectory gives a time-varying LQ MPC problem. We analytically…

Future planetary exploration missions demand high-performance, fault-tolerant computing to enable autonomous Guidance, Navigation, and Control (GNC) and Lander Vision System (LVS) operations during Entry, Descent, and Landing (EDL). This…

In up-to-date machine learning (ML) applications on cloud or edge computing platforms, batching is an important technique for providing efficient and economical services at scale. In particular, parallel computing resources on the…

Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from temporal logic specifications. Existing…

3D Gaussian Splatting (3DGS) is a highly deployable real-time method for novel view synthesis. In practice, it requires a universal, consistent control mechanism that adjusts the trade-off between rendering quality and model compression…

With the development of artificial intelligence techniques, transportation system optimization is evolving from traditional methods relying on expert experience to simulation and learning-based decision and optimization methods.…

In this paper we propose a constrained guaranteed cost robust model predictive controller (GCMPC) for uncertain discrete time systems. This controller was developed based on a quadratic cost functional and guarantee robustness with respect…

In this work, we leverage GPUs to construct probabilistically collision-free convex sets in robot configuration space on the fly. This extends the use of modern motion planning algorithms that leverage such representations to changing…

We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…