Degree in Mathematics

The family of modes (FOM) approach to solving model predictive control (MPC) problems is a novel heuristic technique developed at MIT to reduce the exponential time complexity of traditional MPC solving techniques. This study strives to bring this method closer to the manipulation research community by addressing some of the weaknesses of FOM, by comparing its results to traditional MPC solving techniques and by providing methodologies to choose the parameters required for the heuristic, that will ultimately lead to a FOM-based algorithm capable of tracking complex trajectories.