A Programmable Architecture for Robot Motion Planning Acceleration
2019 IEEE 30th International Conference on Application-specific Systems, Architectures and Processors (ASAP)(2019)
摘要
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.
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关键词
Accelerator,Robotics,Computer Architecture
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