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dc.contributor.authorKoziol, Scott
dc.contributor.authorHasler, Paul
dc.contributor.authorStilman, Mike
dc.date.accessioned2012-07-19T21:14:25Z
dc.date.available2012-07-19T21:14:25Z
dc.date.issued2012-05
dc.identifier.citationKoziol, S., Hasler, P., & Stilman, M. (2012). "Robot Path Planning Using Field Programmable Analog Arrays". Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2012), 14-18 May 2012, pp.1747-1752.en_US
dc.identifier.urihttp://hdl.handle.net/1853/44344
dc.description©2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionPresented at the 2012 IEEE International Conference on Robotics and Automation (ICRA), 14-18 May 2012, St Paul, MN.
dc.descriptionDOI: 10.1109/ICRA.2012.6225303
dc.description.abstractWe present the successful application of reconfigurable Analog-Very-Large-Scale-Integrated (AVLSI) circuits to motion planning for the AmigoBot robot. Previous research has shown that custom application-specific-integrated-circuits (ASICs) can be used for robot path planning. However, ASICs are typically fixed circuit designs that require long fabrication times on the order of months. In contrast, our reconfigurable analog circuits called Field Programmable Analog Arrays (FPAAs) implement a variety of AVLSI circuits in minutes. We present experimental results of online robot path planning using FPAA circuitry, validating our assertion that FPAA-based AVLSI design is a feasible approach to computing complete motion plans using analog floating-gate resistive grids. We demonstrate the integration of FPAA hardware and software with a real robot platform and hardware in the loop simulations, present the trajectories developed by our planner and provide analysis of the time and space complexity of our proposed approach. The paper concludes by formulating metrics that identify domains where analog solutions to planning may be faster and more efficient than traditional, digital robot planning techniques.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectAnalog very large scale integrated circuiten_US
dc.subjectApplication specific integrated circuitsen_US
dc.subjectField programmable analog arraysen_US
dc.subjectPath planningen_US
dc.subjectRobotsen_US
dc.titleRobot Path Planning Using Field Programmable Analog Arraysen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatenameGeorgia Institute of Technology. School of Interactive Computing
dc.publisher.originalInstitute of Electrical and Electronics Engineers


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