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ScaleMPA: Rethinking Scalable RRT* Acceleration With a Grid-Native Representation

2026-09-21 12:36:57
Zilong Wang, Yuzhou Chen, Xinyue He, Chen Zhang, Guanghui He
arXiv_RO
       
Abstract

Real-time motion planning remains challenging in large and high-dimensional environments. Prior acceleration of RRT* follows tree-centric state organization, which reduces per-query cost but preserves superlinear end-to-end complexity and limits parallelism through structural dependencies. This paper presents ScaleMPA, a motion-planning accelerator that rethinks RRT* with a grid-native representation. By replacing hierarchical traversal with direct grid-based access, ScaleMPA reduces the planner critical path and exposes fine-grained parallelism. To make this reformulation practical under sparse high-dimensional planning, ScaleMPA further proposes a multi-resolution grid search engine and a hash-grid memory system. Implemented in 28 nm CMOS, ScaleMPA achieves millisecond-level planning latency and delivers 4.7$\times$--44.4$\times$ speedup over state-of-the-art motion-planning accelerators.

Abstract (translated)

URL

https://arxiv.org/abs/2609.24497

PDF

https://arxiv.org/pdf/2609.24497.pdf

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