Parallelizing RRT on Large-Scale Distributed-Memory Architectures

Parallelizing RRT on Large-Scale Distributed-Memory Architectures

This paper addresses the problem of parallelizing the Rapidly-exploring Random Tree (RRT) algorithm on large-scale distributed-memory architectures, using the message passing interface. We compare three parallel versions of RRT based on classical parallelization schemes. We evaluate them on differen...

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Bibliographic Details
Published in:IEEE transactions on robotics Vol. 29; no. 2; pp. 571 - 579
Main Authors: Devaurs, D., Simeon, T., Cortes, J.
Format: Journal Article
Language:English
Published: New York IEEE 01-04-2013
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Algorithms
Architecture
Comparative studies
Computational efficiency
Computer architecture
Computer memory
Computer Science
Distributed memory
Human-Computer Interaction
Mathematical problems
message passing
Motion-planning
Parallel algorithms
Parallel processing
path planning
Performance evaluation
Program processors
rapidly-exploring random tree (RRT)
Robots
Runtime
Distributed memory
Path planning
Rapidly-exploring random tree
Message passing
Parallel algorithms
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Description
Summary:This paper addresses the problem of parallelizing the Rapidly-exploring Random Tree (RRT) algorithm on large-scale distributed-memory architectures, using the message passing interface. We compare three parallel versions of RRT based on classical parallelization schemes. We evaluate them on different motion-planning problems and analyze the various factors influencing their performance.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2013.2239571