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This paper describes parallel processor architecture for a mixed integer linear programming (MILP) solver to realize motion planning and hybrid system control in robot applications. It features pipeline architecture with an MILP-specific configuration and two-port SRAM. Based on the architecture, both FPGA and VLSI implementations have been done to solve sample problems including 16 variables. The...
We propose a high-speed mixed integer quadratic programming (MIQP) solver on an FPGA. The MIQP solver can be applied to various optimizing applications including real-time robot control. In order to rapidly solve the MIQP problem, we implement reusing a first solution (first point), pipeline architecture, and multi-core architecture on the single FPGA. By making use of them, we confirmed that 79.5%...
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