{"id":"https://openalex.org/W3083611599","doi":"https://doi.org/10.1145/3386263.3406948","title":"Accelerating RRT Motion Planning Using TCAM","display_name":"Accelerating RRT Motion Planning Using TCAM","publication_year":2020,"publication_date":"2020-09-04","ids":{"openalex":"https://openalex.org/W3083611599","doi":"https://doi.org/10.1145/3386263.3406948","mag":"3083611599"},"language":"en","primary_location":{"id":"doi:10.1145/3386263.3406948","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3386263.3406948","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2020 on Great Lakes Symposium on VLSI","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101718570","display_name":"Yuxin Yang","orcid":"https://orcid.org/0009-0002-3007-3705"},"institutions":[{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuxin Yang","raw_affiliation_strings":["Institute of Computing Technology, Chinese Academy of Sciences &amp; University of Chinese Academy of Sciences, beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Computing Technology, Chinese Academy of Sciences &amp; University of Chinese Academy of Sciences, beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045153576","display_name":"Shiqi Lian","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiqi Lian","raw_affiliation_strings":["Institute of Computing Technology, Chinese Academy of Sciences &amp; University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Computing Technology, Chinese Academy of Sciences &amp; University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100373745","display_name":"Xiaohong Chen","orcid":"https://orcid.org/0000-0002-9797-8384"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoming Chen","raw_affiliation_strings":["Institute of Computing Technology, Chinese Academy of Sciences &amp; University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Computing Technology, Chinese Academy of Sciences &amp; University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016864694","display_name":"Yinhe Han","orcid":"https://orcid.org/0000-0003-0904-6681"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinhe Han","raw_affiliation_strings":["Institute of Computing Technology, Chinese Academy of Sciences &amp; University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Computing Technology, Chinese Academy of Sciences &amp; University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101718570"],"corresponding_institution_ids":["https://openalex.org/I4210090176","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":0.231,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.47996516,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"481","last_page":"486"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12326","display_name":"Network Packet Processing and Optimization","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12326","display_name":"Network Packet Processing and Optimization","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.989799976348877,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7754219770431519},{"id":"https://openalex.org/keywords/content-addressable-memory","display_name":"Content-addressable memory","score":0.6115140318870544},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.580001950263977},{"id":"https://openalex.org/keywords/content-addressable-storage","display_name":"Content-addressable storage","score":0.5709582567214966},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.5195049047470093},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5086610913276672},{"id":"https://openalex.org/keywords/application-specific-integrated-circuit","display_name":"Application-specific integrated circuit","score":0.4776243567466736},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.4391668736934662},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4217839241027832},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.42068374156951904},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4189390540122986},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39647454023361206},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37350016832351685},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.3043513298034668},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.1441323459148407},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.1327463984489441},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10888662934303284}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7754219770431519},{"id":"https://openalex.org/C53442348","wikidata":"https://www.wikidata.org/wiki/Q745101","display_name":"Content-addressable memory","level":3,"score":0.6115140318870544},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.580001950263977},{"id":"https://openalex.org/C2778618852","wikidata":"https://www.wikidata.org/wiki/Q1128613","display_name":"Content-addressable storage","level":4,"score":0.5709582567214966},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.5195049047470093},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5086610913276672},{"id":"https://openalex.org/C77390884","wikidata":"https://www.wikidata.org/wiki/Q217302","display_name":"Application-specific integrated circuit","level":2,"score":0.4776243567466736},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.4391668736934662},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4217839241027832},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.42068374156951904},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4189390540122986},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39647454023361206},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37350016832351685},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.3043513298034668},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.1441323459148407},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.1327463984489441},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10888662934303284},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3386263.3406948","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3386263.3406948","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2020 on Great Lakes Symposium on VLSI","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1485487406","https://openalex.org/W1934919341","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W1999250663","https://openalex.org/W2027931070","https://openalex.org/W2075060642","https://openalex.org/W2083953017","https://openalex.org/W2110762409","https://openalex.org/W2123703543","https://openalex.org/W2124543852","https://openalex.org/W2133820736","https://openalex.org/W2151395903","https://openalex.org/W2161675447","https://openalex.org/W2525217331","https://openalex.org/W2567660513","https://openalex.org/W2605142259","https://openalex.org/W2763736187","https://openalex.org/W2792001294","https://openalex.org/W2808835125","https://openalex.org/W3103346840","https://openalex.org/W4235505915","https://openalex.org/W4385490503","https://openalex.org/W6640327834","https://openalex.org/W6678452799","https://openalex.org/W6727315121","https://openalex.org/W6744814086"],"related_works":["https://openalex.org/W2137740981","https://openalex.org/W1989420504","https://openalex.org/W2041845676","https://openalex.org/W2125477157","https://openalex.org/W4321273133","https://openalex.org/W1801289200","https://openalex.org/W2106040618","https://openalex.org/W2050720944","https://openalex.org/W2093404141","https://openalex.org/W3103704822"],"abstract_inverted_index":{"Real-time":[0],"motion":[1,9,79],"planning":[2,80],"is":[3,73,83],"important":[4],"for":[5,78],"robot":[6],"movement.":[7],"In":[8,20,46],"planning,":[10],"path":[11],"search":[12,42,52],"and":[13,43,53,86],"collision":[14,44,54],"detection":[15,55],"are":[16],"two":[17],"performance":[18],"bottlenecks.":[19],"this":[21],"paper,":[22],"we":[23],"adopt":[24],"a":[25,61,93],"range-based":[26],"matching":[27],"scheme":[28],"with":[29],"ternary":[30],"content-addressable":[31],"memories":[32],"(TCAMs)":[33],"to":[34],"accelerate":[35],"the":[36,49,70],"processes":[37],"of":[38],"both":[39,58],"nearest":[40,50],"neighbor":[41],"detection.":[45],"our":[47],"approach,":[48],"node":[51],"can":[56],"be":[57],"processed":[59],"in":[60],"few":[62],"TCAM":[63],"lookup":[64],"cycles.":[65],"The":[66],"evaluation":[67],"shows":[68],"that":[69],"TCAM-based":[71],"accelerator":[72],"236\u00d7":[74],"faster":[75,85],"than":[76,92],"CPU":[77],"tasks.":[81],"It":[82],"5.4\u00d7":[84],"at":[87],"least":[88],"8.8\u00d7":[89],"more":[90],"energy-efficient":[91],"state-of-the-art":[94],"dedicated":[95],"ASIC-based":[96],"accelerator.":[97]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
