Title :
Parallelizing RRT on Large-Scale Distributed-Memory Architectures
Author :
Devaurs, Didier ; Simeon, Thierry ; Cortes, Jorge
Author_Institution :
LAAS, Toulouse, France
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);
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2013.2239571
