Hardware Architecture of Graph Neural Network-Enabled Motion Planner (Invited Paper)
Lingyi Huang, Xiao Zang, Yu Dian Gong, Bo Yuan · 2022
Motion planning aims to find a collision-free trajectory from the start to goal configurations of a robot. As a key cognition task for all the autonomous machines, motion planning is fundamentally required in various real-world robotic applications, such as 2-D/3-D autonomous navigation of unmanned mobile and aerial vehicles and high degree-of-freedom (DoF) autonomous manipulation of industry/medical robot arms and graspers.