Decision D19 · 19 of 21
MHE solver and runtime placement
Offline benchmark first
DECIDED
- Status
- DECIDED (7 Oct 2026, Vinayak)
- Options
- CasADi with IPOPT; acados; a QP solver (OSQP) for linear models; cloud-only offline use
- Trade-offs
- Solve time per step on the Plant Box vs model generality; licence and binary footprint on the edge image
- Used by
- C14, only where the offline benchmark beats the Kalman filter on restart episodes (E63)
- Recommendation
- Offline benchmark in the cloud first. A solver and a Plant Box placement are chosen only if MHE beats the Kalman filter on restart episodes.
- Why
- Solver footprint on the edge is a cost with no proven benefit yet.
- Evidence
- E63; C14.
- Reversible
- Yes.
- Blocks
- C14 on the Plant Box.
Page history: last 2 changes
- docs(research): retire stale research to archive/research-2026-10 with a register
ab84821 - docs(technical): split decision board into DECISIONS.md
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