Unified and Efficient Factor Graph Accelerator Design for Robotic Optimization

doi:10.1145/3771846

CSpace

	Unified and Efficient Factor Graph Accelerator Design for Robotic Optimization
	Liu, Qiang 1; Hua, Yihao 1,3; Hao, Yuhui 2; Yu, Bo 4; Liu, Shaoshan 4; Gan, Yiming 2,3
	2025-12-01
发表期刊	ACM TRANSACTIONS ON ARCHITECTURE AND CODE OPTIMIZATION
ISSN	1544-3566
卷号	22 期号:4 页码:23
摘要	Despite extensive efforts, existing approaches to design accelerators for optimization-based robotic applications have limitations related to insufficient real-time performance and high energy consumption. Some methods focus on designing general-purpose matrix computation units, but fail to consider specific characteristics of robotic algorithms. Other methods aim at designing dedicated accelerators that achieve excellent performance but suffer from limited flexibility. To balance between general-purpose and specialized designs, this article proposes a hardware accelerator that, through a unified pose representation and factor graph abstraction, can solve nonlinear optimization algorithms for localization, planning, and control on the same piece of circuits. Through carefully designed pipeline, circuit structure optimization, fixed-point arithmetic, and sparse data compression, the accelerator design achieves high performance and high energy efficiency. The experimental results on FPGA demonstrate that compared to state-of-the-art acceleration solutions, our design achieves up to 107.9x speedup, 7.2x energy reduction, while achieving similar accuracy.
关键词	Robotic computing factor graph optimization FPGA
DOI	10.1145/3771846
收录类别	SCI
语种	英语
WOS研究方向	Computer Science
WOS类目	Computer Science, Hardware & Architecture ; Computer Science, Theory & Methods
WOS记录号	WOS:001667494000009
出版者	ASSOC COMPUTING MACHINERY
引用统计
文献类型	期刊论文
条目标识符	http://119.78.100.204/handle/2XEOYT63/42892
专题	中国科学院计算技术研究所
通讯作者	Gan, Yiming
作者单位	1.Tianjin Univ, Sch Microelect, Tianjin, Peoples R China 2.Chinese Acad Sci, Inst Comp Technol, Beijing, Peoples R China 3.Univ Chinese Acad Sci, Beijing, Peoples R China 4.Shenzhen Inst Artificial Intelligence & Robot Soc, Shenzhen, Peoples R China
推荐引用方式 GB/T 7714	Liu, Qiang,Hua, Yihao,Hao, Yuhui,et al. Unified and Efficient Factor Graph Accelerator Design for Robotic Optimization[J]. ACM TRANSACTIONS ON ARCHITECTURE AND CODE OPTIMIZATION,2025,22(4):23.
APA	Liu, Qiang,Hua, Yihao,Hao, Yuhui,Yu, Bo,Liu, Shaoshan,&Gan, Yiming.(2025).Unified and Efficient Factor Graph Accelerator Design for Robotic Optimization.ACM TRANSACTIONS ON ARCHITECTURE AND CODE OPTIMIZATION,22(4),23.
MLA	Liu, Qiang,et al."Unified and Efficient Factor Graph Accelerator Design for Robotic Optimization".ACM TRANSACTIONS ON ARCHITECTURE AND CODE OPTIMIZATION 22.4(2025):23.