{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T04:55:52Z","timestamp":1777524952247,"version":"3.51.4"},"publisher-location":"New York, NY, USA","reference-count":60,"publisher":"ACM","license":[{"start":{"date-parts":[[2023,6,17]],"date-time":"2023-06-17T00:00:00Z","timestamp":1686960000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"NSERC - Strategic Project Grant","award":["STPGP 506681-17"],"award-info":[{"award-number":["STPGP 506681-17"]}]},{"name":"NSERC Strategic network on Computing Hardware for Emerging Intelligent Sensory Applications (COHESA)","award":["NETGP 485577-15"],"award-info":[{"award-number":["NETGP 485577-15"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2023,6,17]]},"DOI":"10.1145\/3579371.3589092","type":"proceedings-article","created":{"date-parts":[[2023,6,16]],"date-time":"2023-06-16T20:25:28Z","timestamp":1686947128000},"page":"1-17","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":13,"title":["Energy-Efficient Realtime Motion Planning"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1537-1686","authenticated-orcid":false,"given":"Deval","family":"Shah","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-0750-7998","authenticated-orcid":false,"given":"Ningfeng","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1161-692X","authenticated-orcid":false,"given":"Tor M.","family":"Aamodt","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada"}]}],"member":"320","published-online":{"date-parts":[[2023,6,17]]},"reference":[{"key":"e_1_3_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1999.770055"},{"key":"e_1_3_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1641172"},{"key":"e_1_3_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1145\/3470496.3527383"},{"key":"e_1_3_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6048813"},{"key":"e_1_3_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1145\/234313.234339"},{"key":"e_1_3_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/DAC18074.2021.9586280"},{"key":"e_1_3_2_1_7_1","volume-title":"Proceedings of 27th International Symposium on Computer Architecture. 83--94","author":"Brooks D.","unstructured":"D. Brooks , V. Tiwari , and M. Martonosi . 2000. Wattch: a framework for architectural-level power analysis and optimizations . In Proceedings of 27th International Symposium on Computer Architecture. 83--94 . D. Brooks, V. Tiwari, and M. Martonosi. 2000. Wattch: a framework for architectural-level power analysis and optimizations. In Proceedings of 27th International Symposium on Computer Architecture. 83--94."},{"key":"e_1_3_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1993.292122"},{"key":"e_1_3_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.cad.2009.04.010"},{"key":"e_1_3_2_1_10_1","unstructured":"Coral AI. 2020. AI Google Coral TPU Overview and Products. https:\/\/dls.ieiworld.com\/IEIWEB\/MARKETING_MATERIAL\/2021_catalog\/0-10_AI_Google_TPU_overview_%26_products.pdf  Coral AI. 2020. AI Google Coral TPU Overview and Products. https:\/\/dls.ieiworld.com\/IEIWEB\/MARKETING_MATERIAL\/2021_catalog\/0-10_AI_Google_TPU_overview_%26_products.pdf"},{"key":"e_1_3_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1145\/2641361.2641375"},{"key":"e_1_3_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4011045"},{"key":"e_1_3_2_1_13_1","volume-title":"Real-Time Collision Detection","author":"Ericson Christer","unstructured":"Christer Ericson . 2004. Real-Time Collision Detection . CRC Press, Inc. Christer Ericson. 2004. Real-Time Collision Detection. CRC Press, Inc."},{"key":"e_1_3_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1641879"},{"key":"e_1_3_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2005.I.030"},{"key":"e_1_3_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907079280"},{"key":"e_1_3_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1145\/237170.237244"},{"key":"e_1_3_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/2966986.2980098"},{"key":"e_1_3_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509683"},{"key":"e_1_3_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9321-0"},{"key":"e_1_3_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460730"},{"key":"e_1_3_2_1_22_1","volume-title":"Proceedings of the 2022 Conference Exhibition on Design Automation Test in Europe","author":"Jia Tianyu","year":"2022","unstructured":"Tianyu Jia , En-Yu Yang , Yu-Shun Hsiao , Jonathan Cruz , David Brooks , Gu-Yeon Wei , and Vijay Janapa Reddi . 2022 . OMU: A Probabilistic 3D Occupancy Mapping Accelerator for Real-Time OctoMap at the Edge . In Proceedings of the 2022 Conference Exhibition on Design Automation Test in Europe ( Antwerp, Belgium). 909--914. Tianyu Jia, En-Yu Yang, Yu-Shun Hsiao, Jonathan Cruz, David Brooks, Gu-Yeon Wei, and Vijay Janapa Reddi. 2022. OMU: A Probabilistic 3D Occupancy Mapping Accelerator for Real-Time OctoMap at the Edge. In Proceedings of the 2022 Conference Exhibition on Design Automation Test in Europe (Antwerp, Belgium). 909--914."},{"key":"e_1_3_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509470"},{"key":"e_1_3_2_1_24_1","unstructured":"KINOVA. 2018. KINOVA JACO Assistive robot. https:\/\/www.kinovarobotics.com\/sites\/default\/files\/KINO-2018-Bro-Assistive-ZH_YUL-06-R-Web.pdf.  KINOVA. 2018. KINOVA JACO Assistive robot. https:\/\/www.kinovarobotics.com\/sites\/default\/files\/KINO-2018-Bro-Assistive-ZH_YUL-06-R-Web.pdf."},{"key":"e_1_3_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/2945.675649"},{"key":"e_1_3_2_1_26_1","doi-asserted-by":"crossref","unstructured":"Steven M. LaValle. 2006. Planning Algorithms. http:\/\/lavalle.pl\/planning\/  Steven M. LaValle. 2006. Planning Algorithms. http:\/\/lavalle.pl\/planning\/","DOI":"10.1017\/CBO9780511546877"},{"key":"e_1_3_2_1_27_1","volume-title":"Proceedings of the 35th International Conference on Machine Learning (Proceedings of Machine Learning Research","volume":"2955","author":"Lee Lisa","year":"2018","unstructured":"Lisa Lee , Emilio Parisotto , Devendra Singh Chaplot , Eric Xing , and Ruslan Salakhutdinov . 2018 . Gated Path Planning Networks . In Proceedings of the 35th International Conference on Machine Learning (Proceedings of Machine Learning Research , Vol. 80). 2947-- 2955 . Lisa Lee, Emilio Parisotto, Devendra Singh Chaplot, Eric Xing, and Ruslan Salakhutdinov. 2018. Gated Path Planning Networks. In Proceedings of the 35th International Conference on Machine Learning (Proceedings of Machine Learning Research, Vol. 80). 2947--2955."},{"key":"e_1_3_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1145\/97880.97915"},{"key":"e_1_3_2_1_29_1","volume-title":"Proceedings of the Annual Design Automation Conference","author":"Lian Shiqi","year":"2018","unstructured":"Shiqi Lian , Yinhe Han , Xiaoming Chen , Ying Wang , and Hang Xiao . 2018 . Dadu-P: A Scalable Accelerator for Robot Motion Planning in a Dynamic Environment . In Proceedings of the Annual Design Automation Conference ( San Francisco, California) (DAC). Association for Computing Machinery, 6 pages. Shiqi Lian, Yinhe Han, Xiaoming Chen, Ying Wang, and Hang Xiao. 2018. Dadu-P: A Scalable Accelerator for Robot Motion Planning in a Dynamic Environment. In Proceedings of the Annual Design Automation Conference (San Francisco, California) (DAC). Association for Computing Machinery, 6 pages."},{"key":"e_1_3_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1145\/2925426.2926261"},{"key":"e_1_3_2_1_31_1","unstructured":"Lynxmotion. 2020. AL5D Robot Arm Specs. http:\/\/www.lynxmotion.com\/driver.aspx?Topic=specs04.  Lynxmotion. 2020. AL5D Robot Arm Specs. http:\/\/www.lynxmotion.com\/driver.aspx?Topic=specs04."},{"key":"e_1_3_2_1_32_1","volume-title":"International Conference on Application-specific Systems, Architectures and Processors (ASAP). IEEE, 185--188","author":"Murray Sean","year":"2019","unstructured":"Sean Murray , Will Floyd-jones, George Konidaris , and Daniel J Sorin . 2019 . A Programmable Architecture for Robot Motion Planning Acceleration . In International Conference on Application-specific Systems, Architectures and Processors (ASAP). IEEE, 185--188 . Sean Murray, Will Floyd-jones, George Konidaris, and Daniel J Sorin. 2019. A Programmable Architecture for Robot Motion Planning Acceleration. In International Conference on Application-specific Systems, Architectures and Processors (ASAP). IEEE, 185--188."},{"key":"e_1_3_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/MICRO.2016.7783748"},{"key":"e_1_3_2_1_34_1","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2016.xii.004"},{"key":"e_1_3_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1145\/3230543.3230560"},{"key":"e_1_3_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.23919\/SoftCOM50211.2020.9238297"},{"key":"e_1_3_2_1_37_1","volume-title":"Proceedings of the National Conference on Artificial Intelligence","volume":"2","author":"Pan Jia","year":"2010","unstructured":"Jia Pan , Christian Lauterbach , and Dinesh Manocha . 2010 . g-Planner: Real-time Motion Planning and Global Navigation using GPUs .. In Proceedings of the National Conference on Artificial Intelligence , Vol. 2 . Jia Pan, Christian Lauterbach, and Dinesh Manocha. 2010. g-Planner: Real-time Motion Planning and Global Navigation using GPUs.. In Proceedings of the National Conference on Artificial Intelligence, Vol. 2."},{"key":"e_1_3_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911429335"},{"key":"e_1_3_2_1_39_1","volume-title":"Amorphous data-parallelism in irregular algorithms. regular tech report TR-09-05","author":"Pingali Keshav","year":"2009","unstructured":"Keshav Pingali , Milind Kulkarni , Donald Nguyen , Martin Burtscher , Mario Mendez-Lojo , Dimitrios Prountzos , Xin Sui , and Zifei Zhong . 2009. Amorphous data-parallelism in irregular algorithms. regular tech report TR-09-05 , The University of Texas at Austin ( 2009 ). Keshav Pingali, Milind Kulkarni, Donald Nguyen, Martin Burtscher, Mario Mendez-Lojo, Dimitrios Prountzos, Xin Sui, and Zifei Zhong. 2009. Amorphous data-parallelism in irregular algorithms. regular tech report TR-09-05, The University of Texas at Austin (2009)."},{"key":"e_1_3_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570711"},{"key":"e_1_3_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISCAS.2016.7538962"},{"key":"e_1_3_2_1_42_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3006716"},{"key":"e_1_3_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793889"},{"key":"e_1_3_2_1_44_1","volume-title":"Deeply Informed Neural Sampling for Robot Motion Planning. In 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 6582--6588","author":"Qureshi Ahmed H","year":"2018","unstructured":"Ahmed H Qureshi and Michael C Yip . 2018 . Deeply Informed Neural Sampling for Robot Motion Planning. In 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 6582--6588 . Ahmed H Qureshi and Michael C Yip. 2018. Deeply Informed Neural Sampling for Robot Motion Planning. In 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 6582--6588."},{"key":"e_1_3_2_1_45_1","unstructured":"Rethink Robotics. 2013. Baxter. https:\/\/robots.ieee.org\/robots\/baxter\/  Rethink Robotics. 2013. Baxter. https:\/\/robots.ieee.org\/robots\/baxter\/"},{"key":"e_1_3_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1145\/3318164"},{"key":"e_1_3_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3109744"},{"key":"e_1_3_2_1_48_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593522"},{"key":"e_1_3_2_1_49_1","volume-title":"Shared-Memory Parallelism Can Be Simple, Fast, and Scalable","author":"Shun Julian","unstructured":"Julian Shun . 2017. Shared-Memory Parallelism Can Be Simple, Fast, and Scalable . Vol. 15 . Association for Computing Machinery and Morgan . Julian Shun. 2017. Shared-Memory Parallelism Can Be Simple, Fast, and Scalable. Vol. 15. Association for Computing Machinery and Morgan."},{"key":"e_1_3_2_1_50_1","volume-title":"Filed","author":"Sorin Daniel","year":"2019","unstructured":"Daniel Sorin , William Floyd-Jones , Sean Murray , George Konidaris , and William Walker . 2019. Apparatus , method and article to facilitate motion planning of an autonomous vehicle in an environment having dynamic objects. Patent No. US11292456B2 , Filed April 1, 2019 , Issued April 5, 2022. Daniel Sorin, William Floyd-Jones, Sean Murray, George Konidaris, and William Walker. 2019. Apparatus, method and article to facilitate motion planning of an autonomous vehicle in an environment having dynamic objects. Patent No. US11292456B2, Filed April 1, 2019, Issued April 5, 2022."},{"key":"e_1_3_2_1_51_1","volume-title":"Sorin and George Konidaris","author":"Daniel","year":"2018","unstructured":"Daniel J. Sorin and George Konidaris . 2018 . Enabling Faster, More Capable Robots With Real-Time Motion Planning . https:\/\/spectrum.ieee.org\/enabling-faster-more-capable-robots-with-real-time-motion-planning Daniel J. Sorin and George Konidaris. 2018. Enabling Faster, More Capable Robots With Real-Time Motion Planning. https:\/\/spectrum.ieee.org\/enabling-faster-more-capable-robots-with-real-time-motion-planning"},{"key":"e_1_3_2_1_52_1","volume-title":"Motion Planning for Aotonomous Vehicles and Reconfigurable Motion Planning Processor. Patent No. US20190163191A1, Filed","author":"Sorin Daniel J.","year":"2019","unstructured":"Daniel J. Sorin , George Konidaris , William Floyd-Jones , and Sean Murray . 2019 . Motion Planning for Aotonomous Vehicles and Reconfigurable Motion Planning Processor. Patent No. US20190163191A1, Filed June 9, 2017, Issued May 30, 2019. Daniel J. Sorin, George Konidaris, William Floyd-Jones, and Sean Murray. 2019. Motion Planning for Aotonomous Vehicles and Reconfigurable Motion Planning Processor. Patent No. US20190163191A1, Filed June 9, 2017, Issued May 30, 2019."},{"key":"e_1_3_2_1_53_1","volume-title":"FreePDK: An Open-Source Variation-Aware Design Kit. In IEEE International Conference on Microelectronic Systems Education (MSE). 173--174","author":"Stine James E.","year":"2007","unstructured":"James E. Stine , Ivan D. Castellanos , Michael H. Wood , Jeff Henson , Fred Love , William Rhett Davis , Paul D. Franzon , Michael Bucher , Sunil Basavarajaiah , Julie Oh , and Ravi Jenkal . 2007 . FreePDK: An Open-Source Variation-Aware Design Kit. In IEEE International Conference on Microelectronic Systems Education (MSE). 173--174 . James E. Stine, Ivan D. Castellanos, Michael H. Wood, Jeff Henson, Fred Love, William Rhett Davis, Paul D. Franzon, Michael Bucher, Sunil Basavarajaiah, Julie Oh, and Ravi Jenkal. 2007. FreePDK: An Open-Source Variation-Aware Design Kit. In IEEE International Conference on Microelectronic Systems Education (MSE). 173--174."},{"key":"e_1_3_2_1_54_1","unstructured":"Neil Tardella. 2019. Robots with high degrees of freedom face barriers to adoption. https:\/\/www.cobottrends.com\/robots-with-high-degrees-of-freedom-face-barriers-to-adoption\/.  Neil Tardella. 2019. Robots with high degrees of freedom face barriers to adoption. https:\/\/www.cobottrends.com\/robots-with-high-degrees-of-freedom-face-barriers-to-adoption\/."},{"key":"e_1_3_2_1_55_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.230"},{"key":"e_1_3_2_1_56_1","unstructured":"Jonathan Tilley. 2017. Automation robotics and the factory of the future. https:\/\/www.mckinsey.com\/capabilities\/operations\/our-insights\/automation-robotics-and-the-factory-of-the-future.  Jonathan Tilley. 2017. Automation robotics and the factory of the future. https:\/\/www.mckinsey.com\/capabilities\/operations\/our-insights\/automation-robotics-and-the-factory-of-the-future."},{"key":"e_1_3_2_1_57_1","doi-asserted-by":"publisher","DOI":"10.1049\/csy2.12020"},{"key":"e_1_3_2_1_58_1","volume-title":"Dadu-CD: Fast and Efficient Processing-in-Memory Accelerator for Collision Detection. In 2020 57th ACM\/IEEE Design Automation Conference (DAC). 1--6.","author":"Yang Yuxin","year":"2020","unstructured":"Yuxin Yang , Xiaoming Chen , and Yinhe Han . 2020 . Dadu-CD: Fast and Efficient Processing-in-Memory Accelerator for Collision Detection. In 2020 57th ACM\/IEEE Design Automation Conference (DAC). 1--6. Yuxin Yang, Xiaoming Chen, and Yinhe Han. 2020. Dadu-CD: Fast and Efficient Processing-in-Memory Accelerator for Collision Detection. In 2020 57th ACM\/IEEE Design Automation Conference (DAC). 1--6."},{"key":"e_1_3_2_1_59_1","unstructured":"Amir Yazdanbakhsh Berkin Akin and Kiran K Seshadri. 2021. An Evaluation of Edge TPU Accelerators for Convolutional Neural Networks. https:\/\/arxiv.org\/abs\/2102.10423.  Amir Yazdanbakhsh Berkin Akin and Kiran K Seshadri. 2021. An Evaluation of Edge TPU Accelerators for Convolutional Neural Networks. https:\/\/arxiv.org\/abs\/2102.10423."},{"key":"e_1_3_2_1_60_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5649645"}],"event":{"name":"ISCA '23: 50th Annual International Symposium on Computer Architecture","location":"Orlando FL USA","acronym":"ISCA '23","sponsor":["SIGARCH ACM Special Interest Group on Computer Architecture","IEEE"]},"container-title":["Proceedings of the 50th Annual International Symposium on Computer Architecture"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3579371.3589092","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T16:46:39Z","timestamp":1750178799000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3579371.3589092"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,6,17]]},"references-count":60,"alternative-id":["10.1145\/3579371.3589092","10.1145\/3579371"],"URL":"https:\/\/doi.org\/10.1145\/3579371.3589092","relation":{},"subject":[],"published":{"date-parts":[[2023,6,17]]},"assertion":[{"value":"2023-06-17","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}