An optional control algorithm, model predictive path integral (MPPI) control, implementation using Julia.
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Updated
Feb 4, 2023 - Julia
An optional control algorithm, model predictive path integral (MPPI) control, implementation using Julia.
A serial, parallel and vectorised version of PLDM dynamics has been implemented. The serial version uses numba to get speedup of a compiled language. The parallel version uses mpi4py to utilise the multiprocessing capability of HPC clusters. The vectorised version uses a wide variety of GPU libraries (cuda, cupy, pytorch) to highly vectorise PLDM.
Spring
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