Related papers: RoboGPU: Accelerating GPU Collision Detection for …
With application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This…
Motion planning against sensor data is often a critical bottleneck in real-time robot control. For sampling-based motion planners, which are effective for high-dimensional systems such as manipulators, the most time-intensive component is…
Efficient and real time segmentation of color images has a variety of importance in many fields of computer vision such as image compression, medical imaging, mapping and autonomous navigation. Being one of the most computationally…
We design, implement, and evaluate GPU-based algorithms for the maximum cardinality matching problem in bipartite graphs. Such algorithms have a variety of applications in computer science, scientific computing, bioinformatics, and other…
A Complete Computer vision system can be divided into two main categories: detection and classification. The Lane detection algorithm is a part of the computer vision detection category and has been applied in autonomous driving and smart…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
In recent years, robots are required to be autonomous and their robotic software are sophisticated. Robots have a problem of insufficient performance, since it cannot equip with a high-performance microprocessor due to battery-power…
Evaluating distance to collision for robot manipulators is useful for assessing the feasibility of a robot configuration or for defining safe robot motion in unpredictable environments. However, distance estimation is a timeconsuming…
With their widespread availability, FPGA-based accelerators cards have become an alternative to GPUs and CPUs to accelerate computing in applications with certain requirements (like energy efficiency) or properties (like fixed-point…
In modern GPU inference, cache efficiency remains a major bottleneck, and heuristic policies such as \textsc{LRU} can perform far worse than the offline optimum. Existing learning-based caching systems improve hit rates mainly through…
Autonomous large-scale machine operations require fast, efficient, and collision-free motion planning while addressing unique challenges such as hydraulic actuation limits and underactuated joint dynamics. This paper presents a novel…
We present cuGUGA, an operator-direct graphical unitary group approach (GUGA) configuration interaction (CI) solver in a spin-adapted configuration state function (CSF) basis. Dynamic-programming walk counts provide constant-time CSF…
Our goal is to develop an efficient contact detection algorithm for large-scale GPU-based simulation of non-convex objects. Current GPU-based simulators such as IsaacGym and Brax must trade-off speed with fidelity, generality, or both when…
Adopting FPGA as an accelerator in datacenters is becoming mainstream for customized computing, but the fact that FPGAs are hard to program creates a steep learning curve for software programmers. Even with the help of high-level synthesis…
Computational fluid dynamics and fluid-structure interaction simulations involving moving and deforming bodies is extremely hard. In this work, we present a graphical processing unit (GPU) optimized implementation of the sharp-interface…
Mobile robots in dynamic environments require fast planning, especially when onboard computational resources are limited. While classic potential field based algorithms may suffice in simple scenarios, in most cases algorithms able to…
A novel Gibbs Markov random field for spatial data on Cartesian grids based on the modified planar rotator (MPR) model of statistical physics has been recently introduced for efficient and automatic interpolation of big data sets, such as…
With the emerging big data applications of Machine Learning, Speech Recognition, Artificial Intelligence, and DNA Sequencing in recent years, computer architecture research communities are facing the explosive scale of various data…
Ray tracing is a technique for generating an image by tracing the path of light through pixels in an image plane and simulating the effects of high-quality global illumination at a heavy computational cost. Because of the high computation…
This paper presents, to the author's knowledge, the first graphics processing unit (GPU) accelerated program that solves the evolution of interacting scalar fields in an expanding universe. We present the implementation in NVIDIA's Compute…