Communication Dans Un Congrès Année : 2011

Parallelizing RRT on distributed-memory architectures

Résumé

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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hal-00872218 , version 1 (11-10-2013)

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  • HAL Id : hal-00872218 , version 1

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Didier Devaurs, Thierry Simeon, Juan Cortés. Parallelizing RRT on distributed-memory architectures. Proc. IEEE ICRA '11, May 2011, Shanghai, China. pp. 2261-2266. ⟨hal-00872218⟩
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