This repo contains the code of BLITZCRANK: Factor Graph Accelerator for Motion Planning.
To run the demo, use python to run planning_back_end.py.
The contents in hw_unit are C/C++ code that can be synthesized into hardware. You can use high-level synthesis (HLS) to convert them into HDL.
If you think this work is useful in your research, please consider cite our paper:
@inproceedings{hao2023blitzcrank,
title={Blitzcrank: Factor graph accelerator for motion planning},
author={Hao, Yuhui and Gan, Yiming and Yu, Bo and Liu, Qiang and Liu, Shao-Shan and Zhu, Yuhao},
booktitle={2023 60th ACM/IEEE Design Automation Conference (DAC)},
pages={1--6},
year={2023},
organization={IEEE}
}