A programmable architecture for robot motion planning acceleration

Conference Paper

We have designed a programmable architecture to accelerate collision detection and graph search, two of the principal components of robotic motion planning. The programmability enables the architecture to be applied to a wide range of different robots and motion planning applications. We present the architecture of our accelerator and describe and evaluate its microarchitecture implementation.

Full Text

Published version (via Digital Object Identifier)

Duke Authors

Cited Authors

Murray, S; Floyd-Jones, W; Konidaris, G; Sorin, DJ

Published Date

July 1, 2019

Published In

Proceedings of the International Conference on Application Specific Systems, Architectures and Processors

Volume / Issue

2019-July /

Start / End Page

185 - 188

International Standard Serial Number (ISSN)

1063-6862

International Standard Book Number 13 (ISBN-13)

9781728116013

Digital Object Identifier (DOI)

10.1109/ASAP.2019.000-4

Citation Source

Scopus