Duke University

Brown University

International Business Machines Corporation

Intel Corporation

Daniel J Sorin

George D Konidaris

William Floyd-Jones

Sean Murray

William F Walker

Fred Allison Bower, Iii

Shih-Lien L Lu

Helia A Naeimi

Ralph Nathan

Sule Ozev

Paul G Shealy

Arthur Robert Calderbank

Adam N Jacobvitz

A motion planner of a computer system of a primary agent, e.g., an autonomous vehicle, uses reconfigurable collision detection architecture hardware to perform a collision assessment on a planning graph for the primary agent prior to execution of a motion plan. For edges on the planning graph, which represent transitions in states of the primary agent, the system sets a probability of collision with another agent, e.g., a dynamic object, in the environment based at least in part on the collision assessment. Depending on whether the goal of the primary agent is to avoid or collide with a particular dynamic object in the environment, the system then performs an optimization to identify a path in the resulting planning graph with either a relatively low or relatively high potential of a collision with the particular dynamic object. The system then causes the actuator system of the primary agent to implement a motion plan with the applicable identified path based at least in part on the optimization.

Apparatus, method and article to facilitate motion planning in an environment having dynamic objects

A motion planner of an autonomous vehicle's computer system uses reconfigurable collision detection architecture hardware to perform a collision assessment on a planning graph for the vehicle prior to execution of a motion plan. For edges on the planning graph, which represent transitions in states of the vehicle, the system sets a probability of collision with a dynamic object in the environment based at least in part on the collision assessment. Depending on whether the goal of the vehicle is to avoid or collide with a particular dynamic object in the environment, the system then performs an optimization to identify a path in the resulting planning graph with either a relatively high or relatively low potential of a collision with the particular dynamic object. The system then causes the actuator system of the vehicle to implement a motion plan with the applicable identified path based at least in part on the optimization.

Apparatus, method and article to facilitate motion planning of an autonomous vehicle in an environment having dynamic objects

A system for motion planning for autonomous vehicles can include a plurality of sensors, a plurality of detectors in electrical communication with the plurality of sensors, and a motion planning module in electrical communication with the plurality of detectors and a computing system of an autonomous vehicle. The motion planning module stores a planning graph with each node representing, explicitly or implicitly, time and variables defining a state of the autonomous vehicle, an operating environment, or both the state of the autonomous vehicle and the operating environment. A reconfigurable processor can include a collision detection module and, optionally, a shortest path module. Pre-computed collision data and planning graph data reflecting logical/physical node mapping can be communicated to the processor during a programming phase and used during runtime.

Motion planning for autonomous vehicles and reconfigurable motion planning processors

Specialized robot motion planning hardware and methods of making and using same are provided. A robot-specific hardware can be designed using a tool that receives a robot description comprising a collision geometry of a robot, degrees of freedom for each joint of the robot, and joint limits of the robot; receives a scenario description; generates a probabilistic roadmap (PRM) using the robot description and the scenario description; and for each edge of PRM, produces a collision detection unit comprising a circuit indicating all parts of obstacles that collide with that edge. The hardware is implemented as parallel collision detection units that provide collision detection results used to remove edges from the PRM that is searched to find a path to a goal position.

Specialized robot motion planning hardware and methods of making and using same

A mechanism for recycling error bits in a floating point unit is disclosed. A system of the disclosure includes a memory and a processing device communicably coupled to the memory. In one embodiment, the processing device comprising a floating point unit (FPU) to generate a result value from applying an operation on floating point number inputs to the FPU and generate an error value using the result value. The FPU also writes the result value to a first register of the processing device dedicated to storing results from the operation of the FPU and writes the error value to a second register of the processing device dedicated to storing errors from the operation of the FPU. The second register is separate from the first register.

Recycling error bits in floating point units

Systems and Methods are provided for increasing the number of writes to a page of non-volatile memory before the page must be erased. According to an embodiment, instead of writing a dataword directly to memory, a codeword is written to the memory location. The codeword is selected to minimize overwrite (e.g., bit-flipping) and to maximize the spread of wear across memory cells. In accordance with various embodiments of the invention, coset coding is integrated with error correction encoding; and once the previous state of a page is determined, a coset representative is selected on the basis of maximizing the number of writes to the page before erasing.

Systems for and methods of extending lifetime of non-volatile memory

A mechanism for recycling error bits in a floating point unit is disclosed. A system of the disclosure includes a memory and a processing device communicably coupled to the memory. In one embodiment, the processing device comprising a floating point unit (FPU) to generate a result value from applying an operation on floating point number inputs to the FPU and generate an error value using the result value. The FPU also writes the result value to a first register of the processing device dedicated to storing results from the operation of the FPU and writes the error value to a second register of the processing device dedicated to storing errors from the operation of the FPU.

A level of indirection is utilized when writing to a microprocessor array structure, thereby masking hard faults in the array structure. Among other benefits, this minimizes the use of a backward error recovery mechanism with its inherent delay for recovery. The indirection is used to effectively remove from use faulty portions of the array structure and substitute spare, functioning portions to perform the duties of the faulty portions. Thus, for example, faulty rows in microprocessor array structures are mapped out in favor of substitute, functioning rows.

Growing community of inventors

Durham, NC, United States of America

Daniel J Sorin