A Programmable Architecture for Robot Motion Planning Acceleration
Sean N. Murray, Will Floyd-Jones, George Konidaris, Daniel J. Sorin · 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.