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    "story_id": "mp-2026-09-10-009",
    "source_story_id": "tmp-story-accelmpc-tiny-drone-fpga",
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    "headline": "A Six-Gram Board Put Constrained Control at One Kilohertz",
    "slug": "a-six-gram-board-put-constrained-control-at-one-kilohertz",
    "dek": "AccelMPC ran onboard a 35-gram drone, cutting solve time up to 15.6-fold and energy-delay product 195.4-fold.",
    "summary": "AccelMPC ran onboard a 35-gram drone, cutting solve time up to 15.6-fold and energy-delay product 195.4-fold.",
    "body_text": "AccelMPC co-designs an alternating-direction solver, numerical representation, FPGA mapping and a custom six-gram circuit board for a 35-gram Crazyflie drone. Hardware experiments ran constrained model-predictive control at one kilohertz with dynamic obstacles and optimization problems exceeding 20,000 variables. Against embedded microcontroller solvers, the authors report up to 15.6 times faster solves and a 195.4-fold improvement in energy-delay product. The open design files support replication, but the measurements describe the team’s hardware and test conditions rather than every tiny-aircraft platform.",
    "why_it_matters": "AccelMPC ran onboard a 35-gram drone, cutting solve time up to 15.6-fold and energy-delay product 195.4-fold.",
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    "first_published_at": "2026-09-10T09:00:00.000-04:00",
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    "tags": [
      "tiny drones",
      "FPGA",
      "model predictive control"
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  "sources": [
    {
      "source_id": "source-2026-09-10-009",
      "title": "arXiv preprint 2609.09380",
      "publisher": "arXiv",
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      "published_at": "2026-09-07T20:00:00.000-04:00",
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    "title": "A Six-Gram Board Put Constrained Control at One Kilohertz",
    "publisher": "The Machine Press",
    "published_at": "2026-09-10T09:00:00.000-04:00",
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