Robot motion planning on a chip

Conference Paper

We describe a process that constructs robot-specific circuitry for motion planning, capable of generating motion plans approximately three orders of magnitude faster than existing methods. Our method is based on building collision detection circuits for a probabilistic roadmap. Collision detection for the roadmap edges is completely parallelized, so that the time to determine which edges are in collision is independent of the number of edges. We demonstrate planning using a 6-degreeof-freedom robot arm in less than 1 millisecond.

Duke Authors

Cited Authors

  • Murray, S; Floyd-Jones, W; Qi, Y; Sorin, D; Konidaris, G; Robotics, D

Published Date

  • January 1, 2016

Published In

  • Robotics: Science and Systems

Volume / Issue

  • 12 /

Electronic International Standard Serial Number (EISSN)

  • 2330-765X

International Standard Book Number 13 (ISBN-13)

  • 9780992374723

Citation Source

  • Scopus