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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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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Abstract	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.
AbstractList	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. [PUBLICATION ABSTRACT] 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.
Author	Cortes, J. Devaurs, D. Simeon, T.
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Keywords	Distributed memory Path planning Rapidly-exploring random tree Message passing Parallel algorithms
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SubjectTerms	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
Title	Parallelizing RRT on Large-Scale Distributed-Memory Architectures
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