is it possible to use FPGA for motion planning and is it a good choice ?

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I am very new to motion planning and just know how PRM and RRT work. I am particularly interested in multi DOF arm motion planning and bibed's footstep planning. As I have never used it in practice, I have no idea how much time it takes for motion planning. Collision checking looks like the most expensive part of the motion planning. Hence wanted to know if performing collision checking on FPGA have significant advantage ? Also, I would like to know what were teams in DARPA challenge were using for computation ? Thanks.