-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathindex.html
More file actions
1450 lines (474 loc) · 31.1 KB
/
index.html
File metadata and controls
1450 lines (474 loc) · 31.1 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
<!DOCTYPE html>
<html lang="en-us">
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<meta name="generator" content="Source Themes Academic 4.3.1">
<meta name="description" content="The A²R Lab at Barnard College, Columbia University, focusses on developing and implementing open-source algorithms for dynamic motion planning and control of robots by exploiting both the mathematical structure of algorithms and the design of computational platforms. As such, our research is at the intersection of Robotics and Computer Architecture, Embedded Systems, Numerical Optimization, and Machine Learning. We also want to improve the accessibility of STEM education. We therefore undertake research to understand and improve diversity, equity, inclusion, and belonging in STEM education globally and explore ways to design new interdisciplinary, project-based, open-access courses that lower the barrier to entry of cutting edge topics like robotics and embedded machine learning.">
<link rel="alternate" hreflang="en-us" href="https://a2r-lab.github.io/">
<meta name="theme-color" content="#00693e">
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/academicons/1.8.6/css/academicons.min.css" integrity="sha256-uFVgMKfistnJAfoCUQigIl+JfUaP47GrRKjf6CTPVmw=" crossorigin="anonymous">
<link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.6.0/css/all.css" integrity="sha384-aOkxzJ5uQz7WBObEZcHvV5JvRW3TUc2rNPA7pe3AwnsUohiw1Vj2Rgx2KSOkF5+h" crossorigin="anonymous">
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/fancybox/3.2.5/jquery.fancybox.min.css" integrity="sha256-ygkqlh3CYSUri3LhQxzdcm0n1EQvH2Y+U5S2idbLtxs=" crossorigin="anonymous">
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/9.15.6/styles/github.min.css" crossorigin="anonymous" title="hl-light">
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/9.15.6/styles/dracula.min.css" crossorigin="anonymous" title="hl-dark" disabled>
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/leaflet/1.2.0/leaflet.css" integrity="sha512-M2wvCLH6DSRazYeZRIm1JnYyh22purTM+FDB5CsyxtQJYeKq83arPe5wgbNmcFXGqiSH2XR8dT/fJISVA1r/zQ==" crossorigin="anonymous">
<link rel="stylesheet" href="//fonts.googleapis.com/css?family=Montserrat:400,700|Roboto:400,400italic,700|Roboto+Mono">
<link rel="stylesheet" href="/css/academic.min.ba62fdecad22241491b6229d8522bb13.css">
<link rel="alternate" href="/index.xml" type="application/rss+xml" title="A²R Lab">
<link rel="feed" href="/index.xml" type="application/rss+xml" title="A²R Lab">
<link rel="manifest" href="/site.webmanifest">
<link rel="icon" type="image/png" href="/img/icon.png">
<link rel="apple-touch-icon" type="image/png" href="/img/icon-192.png">
<link rel="canonical" href="https://a2r-lab.github.io/">
<meta property="twitter:card" content="summary">
<meta property="og:site_name" content="A²R Lab">
<meta property="og:url" content="https://a2r-lab.github.io/">
<meta property="og:title" content="A²R Lab">
<meta property="og:description" content="The A²R Lab at Barnard College, Columbia University, focusses on developing and implementing open-source algorithms for dynamic motion planning and control of robots by exploiting both the mathematical structure of algorithms and the design of computational platforms. As such, our research is at the intersection of Robotics and Computer Architecture, Embedded Systems, Numerical Optimization, and Machine Learning. We also want to improve the accessibility of STEM education. We therefore undertake research to understand and improve diversity, equity, inclusion, and belonging in STEM education globally and explore ways to design new interdisciplinary, project-based, open-access courses that lower the barrier to entry of cutting edge topics like robotics and embedded machine learning."><meta property="og:image" content="https://a2r-lab.github.io/img/icon-192.png">
<meta property="og:locale" content="en-us">
<meta property="og:updated_time" content="2026-07-13T00:00:05+00:00">
<script async src="https://www.googletagmanager.com/gtag/js?id=G-BWMRJXPX7Z"></script>
<script>
window.dataLayer = window.dataLayer || [];
function gtag(){dataLayer.push(arguments);}
gtag('js', new Date());
gtag('config', 'G-BWMRJXPX7Z');
</script>
<title>A²R Lab</title>
</head>
<body id="top" data-spy="scroll" data-target="#navbar-main" data-offset="71" >
<aside class="search-results" id="search">
<div class="container">
<section class="search-header">
<div class="row no-gutters justify-content-between mb-3">
<div class="col-6">
<h1>Search</h1>
</div>
<div class="col-6 col-search-close">
<a class="js-search" href="#"><i class="fas fa-times-circle text-muted" aria-hidden="true"></i></a>
</div>
</div>
<div id="search-box">
<input name="q" id="search-query" placeholder="Search..." autocapitalize="off"
autocomplete="off" autocorrect="off" role="textbox" spellcheck="false" type="search">
</div>
</section>
<section class="section-search-results">
<div id="search-hits">
</div>
</section>
</div>
</aside>
<nav class="navbar navbar-light fixed-top navbar-expand-lg py-0" id="navbar-main">
<div class="container">
<a class="navbar-brand" href="/">A²R Lab</a>
<button type="button" class="navbar-toggler" data-toggle="collapse"
data-target="#navbar" aria-controls="navbar" aria-expanded="false" aria-label="Toggle navigation">
<span><i class="fas fa-bars"></i></span>
</button>
<div class="collapse navbar-collapse" id="navbar">
<ul class="navbar-nav mr-auto">
<li class="nav-item">
<a class="nav-link " href="/#about" data-target="#about">
<span>Home</span>
</a>
</li>
<li class="nav-item">
<a class="nav-link " href="/projects">
<span>Research Projects</span>
</a>
</li>
<li class="nav-item">
<a class="nav-link " href="/publication">
<span>Publications</span>
</a>
</li>
<li class="nav-item">
<a class="nav-link " href="/people">
<span>People</span>
</a>
</li>
<li class="nav-item">
<a class="nav-link " href="/join">
<span>Join Us</span>
</a>
</li>
<li class="nav-item">
<a class="nav-link " href="http://brianplancher.com/courses/" target="_blank" rel="noopener">
<span>PI's Courses</span>
</a>
</li>
<li class="nav-item">
<a class="nav-link " href="https://web.cs.dartmouth.edu/" target="_blank" rel="noopener">
<span>Dartmouth CS</span>
</a>
</li>
<li class="nav-item">
<a class="nav-link " href="https://ai.dartmouth.edu/" target="_blank" rel="noopener">
<span>Dartmouth AI</span>
</a>
</li>
</ul>
<ul class="navbar-nav ml-auto">
<li class="nav-item">
<a class="nav-link js-search" href="#"><i class="fas fa-search" aria-hidden="true"></i></a>
</li>
</ul>
</div>
</div>
</nav>
<span class="js-widget-page d-none"></span>
<section id="about" class="home-section wg-about " >
<div class="container">
<div class="row" itemprop="author" itemscope itemtype="http://schema.org/Person" itemref="person-email">
<div class="col-12 col-lg-4">
<div id="profile">
<img class="" src="/authors/admin/avatar_hu6961b28fadeb5d0ad5e1b9938ff31841_166483_500x500_fill_lanczos_center_3.png" itemprop="image" alt="Avatar">
<div class="portrait-title">
<h2 itemprop="name"></h2>
<h3 itemprop="worksFor" itemscope itemtype="http://schema.org/Organization">
<a href="https://web.cs.dartmouth.edu/" target="_blank" itemprop="url" rel="noopener">
<span itemprop="name">Dartmouth College, Computer Science</span>
</a>
</h3>
</div>
<link itemprop="url" href="">
<ul class="network-icon" aria-hidden="true">
<li>
<a itemprop="sameAs" href="mailto:plancher+A2R@dartmouth.edu" >
<i class="fas fa-envelope big-icon"></i>
</a>
</li>
<li>
<a itemprop="sameAs" href="https://github.com/a2r-lab" target="_blank" rel="noopener">
<i class="fab fa-github big-icon"></i>
</a>
</li>
<li>
<a itemprop="sameAs" href="https://scholar.google.com/citations?user=Hys8HdsAAAAJ" target="_blank" rel="noopener">
<i class="ai ai-google-scholar big-icon"></i>
</a>
</li>
</ul>
</div>
</div>
<div class="col-12 col-lg-8" itemprop="description">
<h1>The Accessible and Accelerated Robotics Lab (A²R Lab)</h1>
<!-- raw HTML omitted -->
<!-- raw HTML omitted -->
<p>The A²R Lab focuses on <strong>optimizing robotic systems at all scales</strong> by developing, optimizing, implementing, and evaluating next-generation algorithms and edge computational systems, through algorithm-hardware-software co-design (e.g., <a href="/publication/mpcgpu/">MPCGPU</a>, <a href="/publication/grid/">GRiD</a>, <a href="/publication/tinympc/">TinyMPC</a>). As such, our research is at the intersection of Robotics and Computer Architecture, Embedded Systems, Numerical Optimization, and Machine Learning.</p>
<p>We also want to <strong>promote a responsible, sustainable, and accessible future for robotics and edge computing</strong>, including the development of new interdisciplinary, project-based, open-access courses that lower the barriers to entry for cutting-edge topics like robotics, parallel programming, and embedded machine learning (e.g., <a href="/publication/scalingtinyml4d/">Global TinyML Education</a>, <a href="/publication/paroptrobcourse/">Parallel Optimization for Robotics</a>).</p>
<div class="row">
</div>
</div>
</div>
</div>
</section>
<section id="recent_news" class="home-section wg-blank " >
<div class="container">
<div class="row">
<div class="col-12 col-lg-4 section-heading">
<h1>Recent News</h1>
</div>
<div class="col-12 col-lg-8">
<p><strong>[4/28/26]</strong> We had 4 more papers accepted recently!</p>
<ul>
<li>To RSS 2026: <a href="/publication/tinysdp/">TinySDP: Real Time Semidefinite Optimization for Certifiable and Agile Edge Robotics</a></li>
<li>To RA-L: <a href="/publication/phireman/">Robust Geospatial Coordination of Multi-Agent Communications Networks Under Attrition</a></li>
<li>To ECC 2026: <a href="/publication/admmslack/">Solving Quadratic Programs with Slack Variables via ADMM without Increasing the Problem Size</a></li>
<li>To IFAC WC 2026: <a href="/">Parallel Dynamic Programming for Conic Linear Quadratic Control</a></li>
</ul>
<p><strong>[1/31/26]</strong> We had 5 papers accepted to ICRA 2026 (including an RA-L transfer)!</p>
<ul>
<li><a href="/publication/gato/">GATO: GPU-Accelerated and Batched Trajectory Optimization for Scalable Edge Model Predictive Control</a></li>
<li><a href="/publication/prrtc/">pRRTC: GPU-Parallel RRT-Connect for Fast, Consistent, and Low-Cost Motion Planning</a></li>
<li><a href="/publication/conictinympc/">Code Generation and Conic Constraints for Model-Predictive Control on Microcontrollers with Conic-TinyMPC</a></li>
<li><a href="/publication/kaczmarz/">TAG-K: Tail-Averaged Greedy Kaczmarz for Computationally Efficient and Performant Online Inertial Parameter Estimation</a></li>
<li><a href="/publication/roboprec/">RoboPrec: Enabling Reliable Embedded Computing for Robotics by Providing Accuracy Guarantees Across Mixed-Precision Datatypes (RA-L Transfer)</a></li>
</ul>
<p><strong>[10/24/25]</strong> We were awarded a <a href="https://www.tri.global/">Toyota Research Institute</a> Univerisity 3.0 Grant to continue and expand our project on Real-Time Uncertainty-Aware Optimization for Intelligent Control!</p>
<p><strong>[6/24/25]</strong> We had 2 papers accepted to IROS 2025: <a href="/publication/adaptivetinympc/">Robust and Efficient Embedded Convex Optimization through First-Order Adaptive Caching</a> and <a href="/publication/phaser/">Set Phasers to Stun: Beaming Power and Control to Mobile Robots with Laser Light</a>! Also, our PI gave a talk and was on a panel at the <a href="https://sites.google.com/rice.edu/parallelized-planning-control/">RSS 2025 Workshop on Fast Motion Planning and Control in the Era of Parallelism</a>! Recordings are available on the workshop website.</p>
<p><strong>[5/20/25]</strong> Our PI gave an <a href="https://gioele.science/autonomytalks.html">Autonomy Talk</a>! You can find the <a href="https://www.youtube.com/watch?v=zd-qV3XLR_k">recording at this link</a>!</p>
<!-- raw HTML omitted -->
<!-- raw HTML omitted -->
<!-- raw HTML omitted -->
<!-- raw HTML omitted -->
<!-- raw HTML omitted -->
<!-- raw HTML omitted -->
<!-- raw HTML omitted -->
<!-- raw HTML omitted -->
<!-- raw HTML omitted -->
<!-- raw HTML omitted -->
<!-- raw HTML omitted -->
<!-- raw HTML omitted -->
<!-- raw HTML omitted -->
</div>
</div>
</div>
</section>
<section id="featured" class="home-section wg-featured " >
<div class="container">
<div class="row">
<div class="col-12 col-lg-4 section-heading">
<h1>Featured Publications</h1>
</div>
<div class="col-12 col-lg-8">
<div class="media stream-item" itemscope itemtype="http://schema.org/ScholarlyArticle">
<div class="media-body">
<h3 class="article-title mb-0 mt-0" itemprop="name">
<a href="/publication/tinympc/" itemprop="url">TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers</a>
</h3>
<div class="article-style" itemprop="articleBody"><i>
Best Paper in Automation at IEEE ICRA 2024
<br/>
Finalist for Best Conference Paper at IEEE ICRA 2024
<br/>
Finalist for Best Student Paper at IEEE ICRA 2024
<br/>
</i></div>
<div class="article-style" itemprop="articleBody">
Model-predictive control (MPC) is a powerful tool for controlling highly dynamic robotic systems subject to complex constraints. However, MPC is computationally demanding, and is often impractical to implement on small, resource-constrained robotic platforms. We present TinyMPC, a high-speed MPC solver with a low memory footprint targeting the microcontrollers common on small robots. Our approach is based on the alternating direction method of multipliers (ADMM) and leverages the structure of the MPC problem for efficiency. We demonstrate TinyMPC both by benchmarking against the state-of-the-art solver OSQP, achieving nearly an order of magnitude speed increase, as well as through hardware experiments on a 27 g quadrotor, demonstrating high-speed trajectory tracking and dynamic obstacle avoidance.
</div>
<div class="stream-meta article-metadata">
<div itemprop="author">
<span itemprop="author name" itemtype="http://schema.org/Person">
<a href="https://xkhainguyen.github.io/" target="_blank">Khai Nguyen</a>
</span>, <span itemprop="author name" itemtype="http://schema.org/Person">
<a href="https://samschoedel.com/" target="_blank">Sam Schoedel</a>
</span>, <span itemprop="author name" itemtype="http://schema.org/Person">
<a href="https://www.linkedin.com/in/anoushka-alavilli-89586b178" target="_blank">Anoushka Alavilli</a>
</span>, <span itemprop="author name" itemtype="http://schema.org/Person">
<a href="https://brianplancher.com" target="_blank">Brian Plancher</a>
</span>, <span itemprop="author name" itemtype="http://schema.org/Person">
<a href="http://zacmanchester.github.io/" target="_blank">Zachary Manchester</a>
</span>
</div>
</div>
<div class="btn-links">
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://arxiv.org/abs/2310.16985" target="_blank" rel="noopener">
PDF
</a>
<button type="button" class="btn btn-outline-primary my-1 mr-1 btn-sm js-cite-modal"
data-filename="/publication/tinympc/cite.bib">
Cite
</button>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://github.com/tinympc" target="_blank" rel="noopener">
Code
</a>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="/files/TinyMPC_ICRA_Poster.pdf" target="_blank" rel="noopener">
Poster
</a>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://www.youtube.com/watch?v=NKOrRyhcr6w" target="_blank" rel="noopener">
Video
</a>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://doi.org/10.1109/ICRA57147.2024.10610987" target="_blank" rel="noopener">
DOI
</a>
<a class="btn btn-outline-primary my-1 mr-1 btn-sm" href="https://tinympc.org/" target="_blank" rel="noopener">
Website
</a>
</div>
</div>
<div class="ml-3">
<a href="/publication/tinympc/">
<img src="/publication/tinympc/featured_hu3197d2f7ae7826b69c30e8c0e9f13fb2_1460515_150x0_resize_lanczos_3.png" itemprop="image">
</a>
</div>
</div>
<div class="media stream-item" itemscope itemtype="http://schema.org/ScholarlyArticle">
<div class="media-body">
<h3 class="article-title mb-0 mt-0" itemprop="name">
<a href="/publication/mpcgpu/" itemprop="url">MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU</a>
</h3>
<div class="article-style" itemprop="articleBody"><i>
Best Poster Award at the 2024 IEEE TC on Model Based Optimization for Robotics Virtual Poster Session
<br/>
</i></div>
<div class="article-style" itemprop="articleBody">
We introduce MPCGPU, a GPU-accelerated, real-time NMPC solver that leverages an accelerated preconditioned conjugate gradient (PCG) linear system solver at its core. We show that MPCGPU increases the scalability and real-time performance of NMPC, solving larger problems, at faster rates. In particular, for tracking tasks using the Kuka IIWA manipulator, MPCGPU is able to scale to kilohertz control rates with trajectories as long as 512 knot points. This is driven by a custom PCG solver which outperforms state-of-the-art, CPU-based, linear system solvers by at least 10x for a majority of solves and 3.6x on average.
</div>
<div class="stream-meta article-metadata">
<div itemprop="author">