DocumentCode
34075
Title
Parallelizing RRT on Large-Scale Distributed-Memory Architectures
Author
Devaurs, Didier ; Simeon, Thierry ; Cortes, Jorge
Author_Institution
LAAS, Toulouse, France
Volume
29
Issue
2
fYear
2013
fDate
Apr-13
Firstpage
571
Lastpage
579
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.
Keywords
application program interfaces; distributed memory systems; message passing; parallel processing; path planning; RRT parallelization; classical parallelization schemes; large-scale distributed-memory architectures; message passing interface; motion-planning problems; rapidly-exploring random tree algorithm; Computational efficiency; Computer architecture; Motion-planning; Parallel algorithms; Program processors; Robots; Runtime; Distributed memory; message passing; parallel algorithms; path planning; rapidly-exploring random tree (RRT);
fLanguage
English
Journal_Title
Robotics, IEEE Transactions on
Publisher
ieee
ISSN
1552-3098
Type
jour
DOI
10.1109/TRO.2013.2239571
Filename
6423294
Link To Document