Earlier this week, I spent a lot of time practicing for my presentation. I ended up giving the presentation on Monday. My team then met on Thursday to lay the groundwork for our project. Together, we did some research on the hardware we will order. Afterwards, I did some more reading on RRT and a microarchitecture for accelerating collision detection.
From reading the collision detection microarchitecture paper, collision detection is the main bottleneck in motion planning (takes up “99%” of compute time in motion planning). The proposed microarchitecture seems pretty easy to implement in RTL, let alone HLS. The harder part will definitely be data movement and I/O.
Our team is meeting tomorrow (Sunday) to work on putting together a simulation environment. My next task will be to put together a Vitis HLS project.