Parallelizing RRT on Distributed-Memory Architectures

摘要：

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.

作者: Didier Devaurs Thierry Sim(e)on Juan Cort(e)s

作者单位: CNRS LAAS 7 avenue du colonel Roche,F-31077 Toulouse Cedex 4,France and Universit(e) de Toulouse UPS,INSA,INP,ISAE UT1,UTM,LAAS F-31077 Toulouse Cedex 4,France

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2261-2266

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）