arxiv：2309.14545v2 [cs.ro] 28 Sep 2023___XiaoMi-AI 助力科研平台

arxiv：2309.14545v2 [cs.ro] 28 Sep 2023

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arxiv：2309.14545v2 [cs.ro] 28 Sep 2023

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A bs tr ac t — Mode r n samp li ng - based mo ti on p l ann i ng a l go - rit hms ty p i ca lly t ake be t ween hund r eds o f m illi seconds t o dozens o f seconds t o fi nd co lli s i on -fr ee mo ti ons f o r h i gh deg r ee - o f- fr eedom p r ob l EMS。T h i s pape r p r esen t s pe rf o r mance i mp r o v e - men t s o f mo r e t han 500x o v e r t he s t a t e - o f-t he - a rt, b ri ng i ng p l ann i ng ti mes i n t o t he r ange o f m i c r oseconds and so l u ti on r a t es i n t o这是a g k iloh ohe rt z，w s spec i a li zed ha r dwa r e e。O u r ke y i ns i gh t i s how t o e x p l o it fi ne - g r a i ned pa r a ll e li sm w it h i n samp li ng - based p l anne r s , p r o vi d i ng gene r a lity- p r ese rvi ng a l go rit hm i c i mp r o v emen t s t o an y such p l anne r and s i Gn ifi可以在检查I ng上进行ifi a tly a ti ti ng c riti ca l sub u ti nes。We demons tr a t e ou r app r oach o v e r a d iv e r se se t o f cha ll eng i ng , r ea li s ti c p r ob l ems f o r comp l e x r obo t s r ang i ng fr om 7 t o 14 deg r ees - o f-fr eedom .Mo r eo v e r, we show t ha t ou r app r oach does no t r equ ir e h i gh - powe r ha r dwa r e b y a l so e v a l ua ti ng on a l ow - powe r s i ng l e - boa r d compu t e r.魔鬼的速度是足够的，因为它足够了，并且在计划研究方面开放了新的A v of Mo ti。

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