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A programmable architecture for robot motion planning acceleration

Publication ,  Conference
Murray, S; Floyd-Jones, W; Konidaris, G; Sorin, DJ
Published in: Proceedings of the International Conference on Application-Specific Systems, Architectures and Processors
July 1, 2019

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.

Duke Scholars

Published In

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

DOI

ISSN

1063-6862

Publication Date

July 1, 2019

Volume

2019-July

Start / End Page

185 / 188
 

Citation

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Murray, S., Floyd-Jones, W., Konidaris, G., & Sorin, D. J. (2019). A programmable architecture for robot motion planning acceleration. In Proceedings of the International Conference on Application-Specific Systems, Architectures and Processors (Vol. 2019-July, pp. 185–188). https://doi.org/10.1109/ASAP.2019.000-4
Murray, S., W. Floyd-Jones, G. Konidaris, and D. J. Sorin. “A programmable architecture for robot motion planning acceleration.” In Proceedings of the International Conference on Application-Specific Systems, Architectures and Processors, 2019-July:185–88, 2019. https://doi.org/10.1109/ASAP.2019.000-4.
Murray S, Floyd-Jones W, Konidaris G, Sorin DJ. A programmable architecture for robot motion planning acceleration. In: Proceedings of the International Conference on Application-Specific Systems, Architectures and Processors. 2019. p. 185–8.
Murray, S., et al. “A programmable architecture for robot motion planning acceleration.” Proceedings of the International Conference on Application-Specific Systems, Architectures and Processors, vol. 2019-July, 2019, pp. 185–88. Scopus, doi:10.1109/ASAP.2019.000-4.
Murray S, Floyd-Jones W, Konidaris G, Sorin DJ. A programmable architecture for robot motion planning acceleration. Proceedings of the International Conference on Application-Specific Systems, Architectures and Processors. 2019. p. 185–188.

Published In

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

DOI

ISSN

1063-6862

Publication Date

July 1, 2019

Volume

2019-July

Start / End Page

185 / 188