ICRA 2011 Paper Abstract

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Paper TuP209.2

Devaurs, Didier (LAAS-CNRS), Simeon, Thierry (LAAS-CNRS), Cortes, Juan (LAAS-CNRS)

Parallelizing RRT on Distributed-Memory Architectures

Scheduled for presentation during the Regular Sessions "Motion and Path Planning II" (TuP209), Tuesday, May 10, 2011, 15:40−15:55, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 16, 2019

Keywords Motion and Path Planning

Abstract

This paper addresses the problem of improving the performance of the Rapidly-exploring Random Tree (RRT) algorithm by parallelizing it. For scalability reasons we do so on a distributed-memory architecture, using the message-passing paradigm. We present three parallel versions of RRT along with the technicalities involved in their implementation. We also evaluate the algorithms and study how they behave on different motion planning problems.

 

 

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