Robot motion planning on a chip
Publication
, Conference
Murray, S; Floyd-Jones, W; Qi, Y; Sorin, D; Konidaris, G; Robotics, D
Published in: Robotics: Science and Systems
January 1, 2016
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 Scholars
Published In
Robotics: Science and Systems
EISSN
2330-765X
ISBN
9780992374723
Publication Date
January 1, 2016
Volume
12
Citation
APA
Chicago
ICMJE
MLA
NLM
Murray, S., Floyd-Jones, W., Qi, Y., Sorin, D., Konidaris, G., & Robotics, D. (2016). Robot motion planning on a chip. In Robotics: Science and Systems (Vol. 12).
Murray, S., W. Floyd-Jones, Y. Qi, D. Sorin, G. Konidaris, and D. Robotics. “Robot motion planning on a chip.” In Robotics: Science and Systems, Vol. 12, 2016.
Murray S, Floyd-Jones W, Qi Y, Sorin D, Konidaris G, Robotics D. Robot motion planning on a chip. In: Robotics: Science and Systems. 2016.
Murray, S., et al. “Robot motion planning on a chip.” Robotics: Science and Systems, vol. 12, 2016.
Murray S, Floyd-Jones W, Qi Y, Sorin D, Konidaris G, Robotics D. Robot motion planning on a chip. Robotics: Science and Systems. 2016.
Published In
Robotics: Science and Systems
EISSN
2330-765X
ISBN
9780992374723
Publication Date
January 1, 2016
Volume
12