research-article

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RACOD: algorithm/hardware co-design for mobile robot path planning

Authors:

Mohammad Bakhshalipour,

Seyed Borna Ehsani,

Maxim Likhachev,

Phillip B. GibbonsAuthors Info & Claims

ISCA '22: Proceedings of the 49th Annual International Symposium on Computer Architecture

Pages 597 - 609

https://doi.org/10.1145/3470496.3527383

Published: 11 June 2022 Publication History

Abstract

RACOD is an algorithm/hardware co-design for mobile robot path planning. It consists of two main components: CODAcc, a hardware accelerator for collision detection; and RASExp, an algorithm extension for runahead path exploration. CODAcc uses a novel MapReduce-style hardware computational model and massively parallelizes individual collision checks. RASExp predicts future path explorations and proactively computes its collision status ahead of time, thereby overlapping multiple collision detections. By affording multiple cheap CODAcc accelerators and overlapping collision detections using RASExp, RACOD significantly accelerates planning for mobile robots operating in arbitrary environments. Evaluations of popular benchmarks show up to 41.4× (self-driving cars) and 34.3× (pilotless drones) speedup with less than 0.3% area overhead.

While the performance is maximized when CODAcc and RASExp are used together, they can also be used individually. To illustrate, we evaluate CODAcc alone in the context of a stationary robotic arm and show that it improves performance by 3.4×--3.8×. Also, we evaluate RASExp alone on commodity many-core CPU and GPU platforms by implementing it purely in software and show that with 32/128 CPU/GPU threads, it accelerates the end-to-end planning time by 8.6×/2.9×.

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Cited By

Bakhshalipour MGibbons P(2024)Agents of Autonomy: A Systematic Study of Robotics on Modern HardwareACM SIGMETRICS Performance Evaluation Review10.1145/3673660.365504352:1(25-26)Online publication date: 13-Jun-2024
https://dl.acm.org/doi/10.1145/3673660.3655043
Bakhshalipour MGibbons PGaretto MMarin ACiucu FFanti GRighter R(2024)Agents of Autonomy: A Systematic Study of Robotics on Modern HardwareAbstracts of the 2024 ACM SIGMETRICS/IFIP PERFORMANCE Joint International Conference on Measurement and Modeling of Computer Systems10.1145/3652963.3655043(25-26)Online publication date: 10-Jun-2024
https://dl.acm.org/doi/10.1145/3652963.3655043
Shah DAamodt T(2024)Collision Prediction for Robotics Accelerators2024 ACM/IEEE 51st Annual International Symposium on Computer Architecture (ISCA)10.1109/ISCA59077.2024.00048(566-581)Online publication date: 29-Jun-2024
https://doi.org/10.1109/ISCA59077.2024.00048
Show More Cited By

Index Terms

RACOD: algorithm/hardware co-design for mobile robot path planning
1. Computer systems organization
  1. Architectures
    1. Parallel architectures
2. Hardware
  1. Very large scale integration design
    1. Application-specific VLSI designs

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Published In

cover image ACM Conferences

ISCA '22: Proceedings of the 49th Annual International Symposium on Computer Architecture

June 2022

1097 pages

ISBN:9781450386104

DOI:10.1145/3470496

General Chairs:
Valentina Salapura
Google
,
Mohamed Zahran
New York University
,
Program Chairs:
Fred Chong
The University of Chicago
,
Lingjia Tang
The University of Michigan

Copyright © 2022 Owner/Author.

This work is licensed under a Creative Commons Attribution International 4.0 License.

Sponsors

SIGARCH: ACM Special Interest Group on Computer Architecture

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IEEE CS TCAA: IEEE CS technical committee on architectural acoustics

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 11 June 2022

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National Science Foundation

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ISCA '22

Sponsor:

SIGARCH

ISCA '22: The 49th Annual International Symposium on Computer Architecture

June 18 - 22, 2022

New York, New York

Acceptance Rates

ISCA '22 Paper Acceptance Rate 67 of 400 submissions, 17%;

Overall Acceptance Rate 543 of 3,203 submissions, 17%

Upcoming Conference

ISCA '25

Sponsor:
sigarch

The 52nd Annual International Symposium on Computer Architecture

June 21 - 25, 2025

Tokyo , Japan

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Cited By

Bakhshalipour MGibbons P(2024)Agents of Autonomy: A Systematic Study of Robotics on Modern HardwareACM SIGMETRICS Performance Evaluation Review10.1145/3673660.365504352:1(25-26)Online publication date: 13-Jun-2024
https://dl.acm.org/doi/10.1145/3673660.3655043
Bakhshalipour MGibbons PGaretto MMarin ACiucu FFanti GRighter R(2024)Agents of Autonomy: A Systematic Study of Robotics on Modern HardwareAbstracts of the 2024 ACM SIGMETRICS/IFIP PERFORMANCE Joint International Conference on Measurement and Modeling of Computer Systems10.1145/3652963.3655043(25-26)Online publication date: 10-Jun-2024
https://dl.acm.org/doi/10.1145/3652963.3655043
Shah DAamodt T(2024)Collision Prediction for Robotics Accelerators2024 ACM/IEEE 51st Annual International Symposium on Computer Architecture (ISCA)10.1109/ISCA59077.2024.00048(566-581)Online publication date: 29-Jun-2024
https://doi.org/10.1109/ISCA59077.2024.00048
Bakhshalipour MGibbons P(2024)Tartan: Microarchitecting a Robotic Processor2024 ACM/IEEE 51st Annual International Symposium on Computer Architecture (ISCA)10.1109/ISCA59077.2024.00047(548-565)Online publication date: 29-Jun-2024
https://doi.org/10.1109/ISCA59077.2024.00047
Huang LGong YSui YZang XYuan B(2024)MOPED: Efficient Motion Planning Engine with Flexible Dimension Support2024 IEEE International Symposium on High-Performance Computer Architecture (HPCA)10.1109/HPCA57654.2024.00043(483-497)Online publication date: 2-Mar-2024
https://doi.org/10.1109/HPCA57654.2024.00043
Shah DXue ZPattabiraman KAamodt T(2023)Characterizing and Improving Resilience of Accelerators to Memory Errors in Autonomous RobotsACM Transactions on Cyber-Physical Systems10.1145/3627828Online publication date: 23-Oct-2023
https://dl.acm.org/doi/10.1145/3627828
Bakhshalipour MGibbons P(2023)Agents of Autonomy: A Systematic Study of Robotics on Modern HardwareProceedings of the ACM on Measurement and Analysis of Computing Systems10.1145/36267747:3(1-31)Online publication date: 12-Dec-2023
https://dl.acm.org/doi/10.1145/3626774
Bakhshalipour MLikhachev MGibbons P(2022)RTRBench: A Benchmark Suite for Real-Time Robotics2022 IEEE International Symposium on Performance Analysis of Systems and Software (ISPASS)10.1109/ISPASS55109.2022.00024(175-186)Online publication date: May-2022
https://doi.org/10.1109/ISPASS55109.2022.00024

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