dmalyuta / explicit_hybrid_mpc

Approximate Multiparametric Mixed-integer Convex Programming

Approximate Multiparametric Mixed-integer Convex Programming

Figure: control evaluation time. Bars show the mean while error bars shown the minimum and maximum values. The explicit implementation is up to three orders of magnitude faster than on-line optimization.

General Description

This repository implements the algorithm for generatic suboptimal explicit solutions of multiparametric mixed-integer convex programs, submitted to IEEE Control Systems Letters. The algorithm can be run either locally or on a cluster via mpirun.

@ARTICLE{Mayuta2019,
       author = {{Malyuta}, Danylo and {A\c{c}{\i}kme\c{s}e}, Beh\c{c}et},
        title = {Approximate Multiparametric Mixed-integer Convex Programming},
      journal = {arXiv e-prints},
     keywords = {Mathematics - Optimization and Control},
         year = "2019",
        month = "Feb",
          eid = {arXiv:1902.10994},
        pages = {arXiv:1902.10994},
archivePrefix = {arXiv},
       eprint = {1902.10994},
 primaryClass = {math.OC},
       adsurl = {https://ui.adsabs.harvard.edu/abs/2019arXiv190210994M},
      adsnote = {Provided by the SAO/NASA Astrophysics Data System}
}

Requirements

To run the code, you must have Python 3.7.2 and MOSEK 9.0.87 installed. To install Python and other dependenies (except MOSEK) on Ubuntu, we recommend that you install Anaconda for Python 3.7 and then execute (from inside this repository's directory):

$ conda create -n py372 python=3.7.2 anaconda # Answer yes to everything
$ source activate py372
$ pip install -r requirements.txt

Instructions

Partitioning jobs are created through make_jobs.sh. Run

bash make_jobs.sh -h

for more information. The job files are stored in the ./runtime directory.

explicit_hybrid_mpc's Issues

_pickle.UnpicklingError: invalid load key, '\x00'

Traceback from Hyak:

Traceback (most recent call last):
  File "/gscratch/stf/danylo/lcss/lib/main.py", line 25, in <module>
    main()
  File "/gscratch/stf/danylo/lcss/lib/main.py", line 20, in main
    scheduler.main()
  File "/gscratch/stf/danylo/lcss/lib/scheduler.py", line 528, in main
    scheduler.spin()
  File "/gscratch/stf/danylo/lcss/lib/scheduler.py", line 412, in spin
    status = self.status_msg[i].receive('newest')
  File "/gscratch/stf/danylo/lcss/lib/tools.py", line 108, in receive
    msg_available,data = self.req.test()
  File "mpi4py/MPI/Request.pyx", line 243, in mpi4py.MPI.Request.test
  File "mpi4py/MPI/msgpickle.pxi", line 434, in mpi4py.MPI.PyMPI_test
  File "mpi4py/MPI/msgpickle.pxi", line 404, in mpi4py.MPI.PyMPI_load
  File "mpi4py/MPI/msgpickle.pxi", line 111, in mpi4py.MPI.Pickle.load
  File "mpi4py/MPI/msgpickle.pxi", line 101, in mpi4py.MPI.Pickle.cloads
_pickle.UnpicklingError: invalid load key, '\x00'.
n2149.hyak.local.28388Exhausted 1048576 MQ irecv request descriptors, which usually indicates a user program error or insufficient request d\
escriptors (PSM2_MQ_RECVREQS_MAX=1048576)

Can you tell the guide of this project in the macpro?

Dear author,
Sorry to disturb you. But I didnot know how to obtain the reslut based on the Instructions. Can you explain the guide for the make_jobs.sh file in the mac-OS? (All the packages in the requirements.txt are installed)