効率的でスケーラブルなモデル予測制御のためのニューロモルフィック二次計画法
Neuromorphic quadratic programming for efficient and scalable model predictive control
IntelのニューロモルフィックチップLoihi 2上で凸二次計画問題を解く手法を提案し、四足ロボットANYmalのモデル予測制御に適用して、CPU/GPUの最先端ソルバーと比べエネルギー遅延積を2桁以上削減した。
著者: Ashish Rao Mangalore, Gabriel Andres Fonseca Guerra, Sumedh R. Risbud, Philipp Stratmann, Andreas Wild
分類: cs.NE, cs.ET, cs.RO
原文アブストラクト
Applications in robotics or other size-, weight- and power-constrained autonomous systems at the edge often require real-time and low-energy solutions to large optimization problems. Event-based and memory-integrated neuromorphic architectures promise to solve such optimization problems with superior energy efficiency and performance compared to conventional von Neumann architectures. Here, we present a method to solve convex continuous optimization problems with quadratic cost functions and linear constraints on Intel's scalable neuromorphic research chip Loihi 2. When applied to model predictive control (MPC) problems for the quadruped robotic platform ANYmal, this method achieves over two orders of magnitude reduction in combined energy-delay product compared to the state-of-the-art solver, OSQP, on (edge) CPUs and GPUs with solution times under ten milliseconds for various problem sizes. These results demonstrate the benefit of non-von-Neumann architectures for robotic control applications.