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.
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Publication details
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- Open access
- Green open access
Cite this article
APA 7
Wang, Z., Chen, Y., He, X., Zhang, C., & He, G. (2026). ScaleMPA: Rethinking Scalable RRT* Acceleration With a Grid-Native Representation. https://omanscience.com/en/articles/scalempa-rethinking-scalable-rrt-acceleration-with-a-grid-native-representation
MLA 9
Wang, Zilong, et al. "ScaleMPA: Rethinking Scalable RRT* Acceleration With a Grid-Native Representation." https://omanscience.com/en/articles/scalempa-rethinking-scalable-rrt-acceleration-with-a-grid-native-representation.
Chicago (author–date)
Wang, Zilong, Yuzhou Chen, Xinyue He, Chen Zhang, and Guanghui He. 2026. "ScaleMPA: Rethinking Scalable RRT* Acceleration With a Grid-Native Representation." https://omanscience.com/en/articles/scalempa-rethinking-scalable-rrt-acceleration-with-a-grid-native-representation.
Harvard
Wang, Z., Chen, Y., He, X., Zhang, C. and He, G. (2026) 'ScaleMPA: Rethinking Scalable RRT Acceleration With a Grid-Native Representation', Available at: https://omanscience.com/en/articles/scalempa-rethinking-scalable-rrt-acceleration-with-a-grid-native-representation.
Vancouver
Wang Z, Chen Y, He X, Zhang C, He G. ScaleMPA: Rethinking Scalable RRT* Acceleration With a Grid-Native Representation. https://omanscience.com/en/articles/scalempa-rethinking-scalable-rrt-acceleration-with-a-grid-native-representation
IEEE
Z. Wang, Y. Chen, X. He, C. Zhang, and G. He, "ScaleMPA: Rethinking Scalable RRT Acceleration With a Grid-Native Representation," https://omanscience.com/en/articles/scalempa-rethinking-scalable-rrt-acceleration-with-a-grid-native-representation.