{"id":{"repo_id":"brazil-ufba","oai_identifier":"oai:repositorio.ufba.br:ri/40741"},"canonical_url":"https://search.dev.ndltd.org/etd/brazil-ufba/oai:repositorio.ufba.br:ri/40741","repository":{"repo_id":"brazil-ufba","name":"Brazil UFBA","base_url":"https://repositorio.ufba.br/oai/request"},"display":{"title":"Análise e construção de aceleradores em hardware para o cálculo do menor caminho em planejamento de rotas de robôs","abstract":"This work proposes an analisys and optimization for the calculation of the shortest path in route planning for mobile robots. The suggested solution aims to present a high-performance alternative that can meet the time constraints necessary for robots processing . To do so, we propose an architecture focused on parallelism to be embedded in dedicated hardware. Through the exploitation of parallelism, the solution aims to present, in addition to a performance improvement, a dynamic adaptation to changes in the graph of possible movements to be analyzed, since edges could be inserted or deleted in a temporally random manner as the environment changes. This work demonstrates the architecture developed together with its results. This application graph updating process efficiently updates obstacle matrices, resulting in a remarkable 120-fold improvement for 1024-node graphs. When utilizing a cost-effective device like the Cyclone IV E, it achieves approximately 20 times the performance of an equivalent software applications.","abstract_html":"This work proposes an analisys and optimization for the calculation of the shortest path in route planning for mobile robots. The suggested solution aims to present a high-performance alternative that can meet the time constraints necessary for robots processing . To do so, we propose an architecture focused on parallelism to be embedded in dedicated hardware. Through the exploitation of parallelism, the solution aims to present, in addition to a performance improvement, a dynamic adaptation to changes in the graph of possible movements to be analyzed, since edges could be inserted or deleted in a temporally random manner as the environment changes. This work demonstrates the architecture developed together with its results. This application graph updating process efficiently updates obstacle matrices, resulting in a remarkable 120-fold improvement for 1024-node graphs. When utilizing a cost-effective device like the Cyclone IV E, it achieves approximately 20 times the performance of an equivalent software applications.","abstract_has_math":false,"creators":["Esteves, Linton Thiago Costa"],"institution":"UNIVERSIDADE FEDERAL DA BAHIA","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":null,"school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2024,"date_issued":"2024-10-30","date_published":"2024-10-30","updated_at":"2026-07-27T22:08:03Z","subjects":["Dijkstra","Robôtica","Robôs móveis","Estudo de rotas","Simulação (Computadores)","Circuitos integrados","Integrated circuits"],"languages":["por"],"rights":["Acesso Aberto"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://repositorio.ufba.br/handle/ri/40741","outbound_label":"Repository record","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:creator","label":"Author","values":["Esteves, Linton Thiago Costa"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2024-12-05T15:00:42Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2024-12-05T15:00:42Z"]},{"key":"dc:date.issued","label":"Date","values":["2024-10-30"]},{"key":"dc:publisher","label":"Institution","values":["UNIVERSIDADE FEDERAL DA BAHIA"]},{"key":"dc:publisher.department","label":"Dc Publisher Department","values":["Escola Politécnica"]},{"key":"dc:type","label":"Dc Type","values":["Tese"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Dijkstra","Robôtica","Robôs móveis","Estudo de rotas","Simulação (Computadores)","Circuitos integrados","Integrated circuits"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["por"]},{"key":"dc:rights","label":"Dc Rights","values":["Acesso Aberto"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://repositorio.ufba.br/handle/ri/40741"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["This work proposes an analisys and optimization for the calculation of the shortest path in route planning for mobile robots. The suggested solution aims to present a high-performance alternative that can meet the time constraints necessary for robots processing . To do so, we propose an architecture focused on parallelism to be embedded in dedicated hardware. Through the exploitation of parallelism, the solution aims to present, in addition to a performance improvement, a dynamic adaptation to changes in the graph of possible movements to be analyzed, since edges could be inserted or deleted in a temporally random manner as the environment changes. This work demonstrates the architecture developed together with its results. This application graph updating process efficiently updates obstacle matrices, resulting in a remarkable 120-fold improvement for 1024-node graphs. When utilizing a cost-effective device like the Cyclone IV E, it achieves approximately 20 times the performance of an equivalent software applications."]},{"key":"dc:title","label":"Title","values":["Análise e construção de aceleradores em hardware para o cálculo do menor caminho em planejamento de rotas de robôs"]}]}],"canonical_facts":{"dc:creator":["Esteves, Linton Thiago Costa"],"dc:date.accessioned":["2024-12-05T15:00:42Z"],"dc:date.available":["2024-12-05T15:00:42Z"],"dc:date.issued":["2024-10-30"],"dc:description.abstract":["This work proposes an analisys and optimization for the calculation of the shortest path in route planning for mobile robots. The suggested solution aims to present a high-performance alternative that can meet the time constraints necessary for robots processing . To do so, we propose an architecture focused on parallelism to be embedded in dedicated hardware. Through the exploitation of parallelism, the solution aims to present, in addition to a performance improvement, a dynamic adaptation to changes in the graph of possible movements to be analyzed, since edges could be inserted or deleted in a temporally random manner as the environment changes. This work demonstrates the architecture developed together with its results. This application graph updating process efficiently updates obstacle matrices, resulting in a remarkable 120-fold improvement for 1024-node graphs. When utilizing a cost-effective device like the Cyclone IV E, it achieves approximately 20 times the performance of an equivalent software applications."],"dc:identifier.uri":["https://repositorio.ufba.br/handle/ri/40741"],"dc:language":["por"],"dc:publisher":["UNIVERSIDADE FEDERAL DA BAHIA"],"dc:publisher.department":["Escola Politécnica"],"dc:rights":["Acesso Aberto"],"dc:subject":["Dijkstra","Robôtica","Robôs móveis","Estudo de rotas","Simulação (Computadores)","Circuitos integrados","Integrated circuits"],"dc:title":["Análise e construção de aceleradores em hardware para o cálculo do menor caminho em planejamento de rotas de robôs"],"dc:type":["Tese"]},"updated_at":"2026-07-27T22:08:03Z"}