{"id":"https://openalex.org/W4281721323","doi":"https://doi.org/10.1145/3470496.3527383","title":"RACOD","display_name":"RACOD","publication_year":2022,"publication_date":"2022-05-31","ids":{"openalex":"https://openalex.org/W4281721323","doi":"https://doi.org/10.1145/3470496.3527383"},"language":"en","primary_location":{"id":"doi:10.1145/3470496.3527383","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3470496.3527383","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3470496.3527383","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 49th Annual International Symposium on Computer Architecture","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3470496.3527383","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045254478","display_name":"Mohammad Bakhshalipour","orcid":"https://orcid.org/0000-0001-6648-1773"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mohammad Bakhshalipour","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068378841","display_name":"Seyed Borna Ehsani","orcid":"https://orcid.org/0000-0001-9832-9397"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seyed Borna Ehsani","raw_affiliation_strings":["University of Washington"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045939421","display_name":"Mohamad Qadri","orcid":"https://orcid.org/0000-0003-3320-5646"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohamad Qadri","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075613923","display_name":"Dominic Guri","orcid":"https://orcid.org/0000-0002-3411-698X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dominic Guri","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103257510","display_name":"Maxim Likhachev","orcid":"https://orcid.org/0000-0002-9539-2398"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maxim Likhachev","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014824446","display_name":"Phillip B. Gibbons","orcid":"https://orcid.org/0000-0001-6967-2735"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Phillip B. Gibbons","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5045254478"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":1.7346,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.85659219,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"597","last_page":"609"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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":0.7935720682144165},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7410996556282043},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6363844275474548},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.5860741138458252},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5767631530761719},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5766185522079468},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.5592731237411499},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.552828311920166},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5074793696403503},{"id":"https://openalex.org/keywords/hardware-acceleration","display_name":"Hardware acceleration","score":0.4330168068408966},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40231552720069885},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.34823745489120483},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3446187674999237},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.31602346897125244},{"id":"https://openalex.org/keywords/field-programmable-gate-array","display_name":"Field-programmable gate array","score":0.2438354790210724},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1875304877758026},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.11985531449317932},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.054017722606658936}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7935720682144165},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7410996556282043},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6363844275474548},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.5860741138458252},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5767631530761719},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5766185522079468},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.5592731237411499},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.552828311920166},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5074793696403503},{"id":"https://openalex.org/C13164978","wikidata":"https://www.wikidata.org/wiki/Q600158","display_name":"Hardware acceleration","level":3,"score":0.4330168068408966},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40231552720069885},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.34823745489120483},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3446187674999237},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.31602346897125244},{"id":"https://openalex.org/C42935608","wikidata":"https://www.wikidata.org/wiki/Q190411","display_name":"Field-programmable gate array","level":2,"score":0.2438354790210724},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1875304877758026},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.11985531449317932},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.054017722606658936}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3470496.3527383","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3470496.3527383","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3470496.3527383","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 49th Annual International Symposium on Computer Architecture","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3470496.3527383","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3470496.3527383","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3470496.3527383","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 49th Annual International Symposium on Computer Architecture","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7163161335","display_name":null,"funder_award_id":"CCF-2028949","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G747600346","display_name":null,"funder_award_id":"2028949","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320316505","display_name":"NetApp","ror":"https://ror.org/05c4cm338"},{"id":"https://openalex.org/F4320316785","display_name":"VMware","ror":null},{"id":"https://openalex.org/F4320316896","display_name":"Seagate Technology","ror":"https://ror.org/04p1xtv71"},{"id":"https://openalex.org/F4320332195","display_name":"Samsung","ror":"https://ror.org/04w3jy968"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4281721323.pdf","grobid_xml":"https://content.openalex.org/works/W4281721323.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W73627945","https://openalex.org/W1497695555","https://openalex.org/W1969483458","https://openalex.org/W2000406941","https://openalex.org/W2055952974","https://openalex.org/W2105755780","https://openalex.org/W2113235308","https://openalex.org/W2113751407","https://openalex.org/W2124543852","https://openalex.org/W2128990851","https://openalex.org/W2135039871","https://openalex.org/W2135125135","https://openalex.org/W2165216595","https://openalex.org/W2169755331","https://openalex.org/W2186799393","https://openalex.org/W2235134718","https://openalex.org/W2242756877","https://openalex.org/W2295533863","https://openalex.org/W2808835125","https://openalex.org/W2971757069","https://openalex.org/W3012385591","https://openalex.org/W3043382192","https://openalex.org/W3150859138","https://openalex.org/W4221109973","https://openalex.org/W4236200795","https://openalex.org/W4255097844"],"related_works":["https://openalex.org/W2058965144","https://openalex.org/W2164382479","https://openalex.org/W98480971","https://openalex.org/W2150291671","https://openalex.org/W2027972911","https://openalex.org/W2146343568","https://openalex.org/W2013643406","https://openalex.org/W2157978810","https://openalex.org/W4381746183","https://openalex.org/W2532502681"],"abstract_inverted_index":{"RACOD":[0,77],"is":[1],"an":[2,25],"algorithm/hardware":[3],"co-design":[4],"for":[5,20,28,81],"mobile":[6,82],"robot":[7],"path":[8,30,49],"planning.":[9],"It":[10],"consists":[11],"of":[12,58,89],"two":[13],"main":[14],"components:":[15],"CODAcc,":[16],"a":[17,34],"hardware":[18,37],"accelerator":[19],"collision":[21,44,55,63,73],"detection;":[22],"and":[23,40,51,71,98],"RASExp,":[24,76],"algorithm":[26],"extension":[27],"runahead":[29],"exploration.":[31],"CODAcc":[32,69],"uses":[33],"novel":[35],"MapReduce-style":[36],"computational":[38],"model":[39],"massively":[41],"parallelizes":[42],"individual":[43],"checks.":[45],"RASExp":[46],"predicts":[47],"future":[48],"explorations":[50],"proactively":[52],"computes":[53],"its":[54],"status":[56],"ahead":[57],"time,":[59],"thereby":[60],"overlapping":[61,72],"multiple":[62,67],"detections.":[64],"By":[65],"affording":[66],"cheap":[68],"accelerators":[70],"detections":[74],"using":[75],"significantly":[78],"accelerates":[79],"planning":[80],"robots":[83],"operating":[84],"in":[85],"arbitrary":[86],"environments.":[87],"Evaluations":[88],"popular":[90],"benchmarks":[91],"show":[92],"up":[93],"to":[94],"41.4\u00d7":[95],"(self-driving":[96],"cars)":[97],"34.3\u00d7":[99],"(pilotless":[100],"drones)":[101],"speedup":[102],"with":[103],"less":[104],"than":[105],"0.3%":[106],"area":[107],"overhead.":[108]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2022-06-13T00:00:00"}