Robotics: Science and Systems XII

Robot Motion Planning on a Chip

Sean Murray, Will Floyd-Jones, Ying Qi, Daniel Sorin, George Konidaris


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-degree- of-freedom robot arm in less than 1 millisecond.



    AUTHOR    = {Sean Murray AND Will Floyd-Jones AND Ying Qi AND Daniel Sorin AND George Konidaris}, 
    TITLE     = {Robot Motion Planning on a Chip}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2016}, 
    ADDRESS   = {AnnArbor, Michigan}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2016.XII.004}