Artificial intelligence (AI) and machine learning (ML) tools play a significant role in the recent
evolution of smart systems. AI solutions are pushing towards a significant shift in many fields …

Recent researches on robotics have shown significant improvement, spanning from
algorithms, mechanics to hardware architectures. Robotics, including manipulators, legged …

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 …

We present a novel optimization-based algorithm for motion planning in dynamic
environments. Our approach uses a stochastic trajectory optimization framework to avoid …

This paper reviews recent developments extending sampling based motion planning
algorithms to operate in dynamic environments. Sampling based planners provide an …

We have developed a hardware accelerator for motion planning, a critical operation in
robotics. In this paper, we present the microarchitecture of our accelerator and describe a …

In this paper, we propose a novel and coherent framework for fast footstep planning for
legged robots on a flat ground with 3-D obstacle avoidance. We use swept volume …

Motion planning is a fundamental problem in autonomous robotics with real-time and low-
energy requirements for safe navigation through a dynamic environment. More than 90% of …

A* search is a fundamental topic in artificial intelligence. Recently, the general purpose
computation on graphics processing units (GPGPU) has been widely used to accelerate …

We present parallel algorithms to accelerate collision queries for sample-based motion
planning. Our approach is designed for current many-core GPUs and exploits data …