The microarchitecture of a real-Time robot motion planning accelerator
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, Conference
Murray, S; Floyd-Jones, W; Qi, Y; Konidaris, G; Sorin, DJ
Published in: Proceedings of the Annual International Symposium on Microarchitecture, MICRO
December 14, 2016
We have developed a hardware accelerator for motion planning, a critical operation in robotics. In this paper, we present the microarchitecture of our accelerator and describe a prototype implementation on an FPGA. We experimentally show that the accelerator improves performance by three orders of magnitude and improves power consumption by more than one order of magnitude. These gains are achieved through careful hardware/software co-design. We modify conventional motion planning algorithms to aggressively precompute collision data, as well as implement a microarchitecture that leverages the parallelism present in the problem.
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Proceedings of the Annual International Symposium on Microarchitecture, MICRO
DOI
ISSN
1072-4451
ISBN
9781509035083
Publication Date
December 14, 2016
Volume
2016-December
Citation
APA
Chicago
ICMJE
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Murray, S., Floyd-Jones, W., Qi, Y., Konidaris, G., & Sorin, D. J. (2016). The microarchitecture of a real-Time robot motion planning accelerator. In Proceedings of the Annual International Symposium on Microarchitecture, MICRO (Vol. 2016-December). https://doi.org/10.1109/MICRO.2016.7783748
Murray, S., W. Floyd-Jones, Y. Qi, G. Konidaris, and D. J. Sorin. “The microarchitecture of a real-Time robot motion planning accelerator.” In Proceedings of the Annual International Symposium on Microarchitecture, MICRO, Vol. 2016-December, 2016. https://doi.org/10.1109/MICRO.2016.7783748.
Murray S, Floyd-Jones W, Qi Y, Konidaris G, Sorin DJ. The microarchitecture of a real-Time robot motion planning accelerator. In: Proceedings of the Annual International Symposium on Microarchitecture, MICRO. 2016.
Murray, S., et al. “The microarchitecture of a real-Time robot motion planning accelerator.” Proceedings of the Annual International Symposium on Microarchitecture, MICRO, vol. 2016-December, 2016. Scopus, doi:10.1109/MICRO.2016.7783748.
Murray S, Floyd-Jones W, Qi Y, Konidaris G, Sorin DJ. The microarchitecture of a real-Time robot motion planning accelerator. Proceedings of the Annual International Symposium on Microarchitecture, MICRO. 2016.
Published In
Proceedings of the Annual International Symposium on Microarchitecture, MICRO
DOI
ISSN
1072-4451
ISBN
9781509035083
Publication Date
December 14, 2016
Volume
2016-December