BnB-DAQP：一个面向嵌入式应用的混合并行QP求解器
BnB-DAQP: A Mixed-Integer QP Solver for Embedded Applications
摘要：
我们提出了一种混合整数二次规划（QP）求解器，适用于嵌入式应用，例如，混合模型预测控制（MPC）。该求解器是基于分支定界法，并使用最近提出的双有效集求解器解决由此产生的QP松弛。此外，我们调整搜索的分支定界树，以适合于嵌入式应用程序在有限的硬件，我们展示，例如，如何在分支定界树中的节点可以表示只有两个整数。通过在有限内存和计算能力的MCU上成功运行小车上倒立摆的MPC，证明了求解器的可嵌入性。
英文摘要：
We propose a mixed-integer quadratic programming (QP) solver that is suitable for use in embedded applications, for example, hybrid model predictive control (MPC). The solver is based on the branch-and-bound method, and uses a recently proposed dual active-set solver for solving the resulting QP relaxations. Moreover, we tailor the search of the branch-and-bound tree to be suitable for embedded applications on limited hardware; we show, for example, how a node in the branch-and-bound tree can be represented by only two integers. The embeddability of the solver is shown by successfully running MPC of an inverted pendulum on a cart with contact forces on an MCU with limited memory and computing power.
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