ORIANNA: An Accelerator Generation Framework for Optimization-based Robotic Applications
Yuhui Hao, Yiming Gan, Yu Bo, Qiang Liu, Yinhe Han, Zishen Wan, Shaoshan Liu
Abstract
Despite extensive efforts, existing approaches to design accelerators for optimization-based robotic applications have limitations. Some approaches focus on accelerating general matrix operations, but they fail to fully exploit the specific sparse structure commonly found in many robotic algorithms. On the other hand, certain methods require manual design of dedicated accelerators, resulting in inefficiencies and significant non-recurring engineering (NRE) costs.
Topics & Concepts
ExploitComputer scienceFocus (optics)Computer architectureComputer engineeringSystems engineeringEmbedded systemEngineeringComputer securityOpticsPhysicsRobotics and Sensor-Based LocalizationOptimization and Search ProblemsRobotic Path Planning Algorithms