CUDA for Rapid Controller Robustness Evaluation: A Tutorial
- Resource Type
- Conference
- Authors
- Gandhi, Manan; Schlossman, Rachel; Williams, Kyle A.; Melzer, Ryan; Parish, Julie
- Source
- 2021 60th IEEE Conference on Decision and Control (CDC) Decision and Control (CDC), 2021 60th IEEE Conference on. :4861-4867 Dec, 2021
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Monte Carlo methods
Sensitivity analysis
Computational modeling
Neural networks
Graphics processing units
Tutorials
Logic gates
- Language
- ISSN
- 2576-2370
We present the GPU Accelerated Trajectory Evaluation (GATE) tool. GATE is a controller evaluation tool written in C++ and CUDA which utilizes Nvidia GPUs to accelerate parallelizable computations for Monte Carlo controller evaluation. GATE offers plug-and-play capabilities that enable both fast development and fast execution of Monte Carlo simulations for controller robustness evaluation. We illustrate the use of GATE for evaluating the robustness of different controllers on Dubins, mass-spring-damper, cart-pole, and quadcopter systems and for performing sensitivity analysis. We also demonstrate the ability of GATE’s core technology to outperform the simulation speeds of five other parallel computation benchmarks.