Parallel Branch Model Predictive Control on GPUs

2025/06/16 by Luyao Zhang, Zhang, Luyao, Chenghuai Lin +3 · 2 citations
Computer Science · Engineering · #Advanced Control Systems Optimization #Distributed and Parallel Computing Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2506.13624

openalex publication_date 2025/06/16 · openalex created_date 2025/10/13 · openalex updated_date 2026/07/28

Abstract

We present a parallel GPU-accelerated solver for branch Model Predictive Control problems. Based on iterative LQR methods, our solver exploits the tree-sparse structure and implements temporal parallelism using the parallel scan algorithm. Consequently, the proposed solver enables parallelism across both the prediction horizon and the scenarios. In addition, we utilize an augmented Lagrangian method to handle general inequality constraints. We compare our solver with state-of-the-art numerical solvers in two automated driving applications. The numerical results demonstrate that, compared to CPU-based solvers, our solver achieves competitive performance for problems with short horizons and small-scale trees, while outperforming other solvers on large-scale problems.

Citations

• Real-Time Anomaly Detection and Reactive Planning with Large Language Models
• ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control
• Automated Lane Merging via Game Theory and Branch Model Predictive Control
• A Unified Perspective on Multiple Shooting In Differential Dynamic Programming
• Optimization-Based Control for Dynamic Legged Robots
• Exploiting GPU/SIMD Architectures for Solving Linear-Quadratic MPC Problems
• Perceptive Locomotion through Nonlinear Model Predictive Control
• Interactive multi-modal motion planning with Branch Model Predictive Control
• Massively parallelizable proximal algorithms for large-scale stochastic optimal control problems
• Temporal Parallelisation of Dynamic Programming and Linear Quadratic Control
• Model Predictive Control for Micro Aerial Vehicles: A Survey
• TDR-OBCA: A Reliable Planner for Autonomous Driving in Free-Space Environment
• A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear\n Optimal Control

Cited by

• Fast and Scalable Game-Theoretic Trajectory Planning with Intentional Uncertainties
• Rake-Compress Riccati Recursions for Parallel Scenario-Tree Model Predictive Control

Related

• Effective GPU Parallelization of Distributed and Localized Model Predictive Control
• Exploiting GPU/SIMD Architectures for Solving Linear-Quadratic MPC Problems
• An O(log N) Parallel Algorithm for Newton Step Computation in Model Predictive Control
• Differentiable Model Predictive Control on the GPU
• Parallel Shooting Sequential Quadratic Programming for Nonlinear MPC Problems