An Embedded Input-constrained MPC Solver for Network of Robots

In this paper, we propose a lightweight online embedded solver for input-constrained model predictive control problems on low-power, resource-constrained microcontrollers. Our method combines gradient projection and conjugate gradient techniques to quickly identify the optimal working set within an active-set strategy. Both simulations and real-world tests confirm that the proposed solver yields optimized inputs with reduced overshoot and enhanced smoothness, demonstrating its effectiveness on resource-limited hardware.