Predicting the Performance of Randomized Parallel Search: An Application to Robot Motion Planning

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 38, Issue 1, 2003, Pages 31-53

  Challou, Daniel J ^a   Gini, Maria ^a   Kumar, Vipin ^a   Karypis, George ^a  

^a University of Minnesota   (United States)

Author keywords

Parallel computers; Performance evaluation; Randomized parallel search; Randomized path planning

Indexed keywords

ALGORITHMS; ESTIMATION; PARALLEL PROCESSING SYSTEMS; PROBABILITY DISTRIBUTIONS; PROBLEM SOLVING; ROBOTICS; SEARCH ENGINES;

RANDOMIZED PARALLEL SEARCH;

MOTION PLANNING;

EID: 0242551583     PISSN: 09210296     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1026283627113     Document Type: Article

References (25)

1. Alanberg-Navony, N., Itai, A., and Moran, S.: 1994, Average and randomized complexity of distributed problems, Technical Report, Technion, Haifa, Israel.
2. Amato, N. M. and Dale, L. K.: 1999, Probabilistic roadmap methods are embarrassingly parallel, in: Proc. IEEE Internat. Conf. on Robotics and Automation, pp. 688-694.
3. Challou, D., Boley, D., Gini, M., Kumar, V., and Olson, C.: 1998, Parallel search algorithms for robot motion planning, in: K. Gupta and A. del Pobil (eds), Practical Motion Planning in Robotics: Current Approaches and Future Directions, Wiley, New York, pp. 115-131.
4. Challou, D., Gini, M., and Kumar, V.: 1993, Parallel search algorithms for robot motion planning, in: Proc. of IEEE Internat. Conf. on Robotics and Automation, Vol. 2., pp. 46-51.
5. Cook, D. J. and Varnell, R. C.: 1998, Adaptive parallel iterative deepening search, J. Artificial Intelligence Res. 9, 139-166.
6. Corporation, T. M.: 1992, The connection machine CM-5 Technical Summary, Thinking Machines Corporation, Cambridge, MA.
7. Ertel, W.: 1992, OR-parallel theorem proving with random competition, in: A. Voronokov (ed.), LPAR'92: Logic Programming and Automated Reasoning, Lecture Notes in Artificial Intelligence 624, Springer, Berlin, pp. 226-237.
8. Ertel, W.: 1993, Massively parallel search with random competition, in: Working Notes of the 1993 AAAI Spring Symposium for Innovative Applications of Massive Parallelism, pp. 62-69, AAAI Press, Menlo Park, CA; available as Technical Report No. TR SS-93-04.
9. Ferreira, A. and Pardalos, P. (eds): 1996, Solving Combinatorial Optimization Problems in Parallel: Methods and Techniques, Lecture Notes in Computer Science 1054, State-of-the-Art Surveys, Springer, New York.
10. Grama, A. and Kumar, V.: 1999, State of the art in parallel search techniques for discrete optimization problems, IEEE Trans. Knowledge Data Engrg. 11(1), 28-35.
11. Henrich, D., Wurrl, C., and Woern, H.: 1998, Multi-directional search with goal switching for robot path planning, in: A. P. del Pobil, J. Mira and M. Ali (eds), Tasks and Methods in Applied Artificial Intelligence, Lecture Notes in Artificial Intelligence 1416, Springer, Berlin, pp. 75-84.
12. Hoel, P., Port, S., and Stone, C.: 1971, Introduction to Probability Theory, Houghton Mifflin Company, Boston, MA.
13. Hoos, H. H.: 1998, Stochastic Local Search - Methods, Models, Applications, PhD Thesis, the Darmstadt University of Technology, Germany.
14. Hoos, H. H. and Stützle, T.: 1998, Evaluating Las Vegas algorithms - Pitfalls and remedies, in: Proc. of the 14th Conf. an Uncertainty in Artificial Intelligence, pp. 238-245, Morgan Kaufmann, Los Altos, CA.
15. Hsu, D., Latombe, J., Motwani, R., and Kavraki, L.: 1999, Capturing the connectivity of high-dimensional geometric spaces by parallelizable random sampling techniques, in: P. Pardalos and S. Rajasekaran (eds), Advances in Randomized Parallel Computing, Combinatorial Optimization Series, Kluwer Academic Publishers, Dordrecht, pp. 159-182.
16. Janakiram, V., Agrawal, D., and Mehrotra, R.: 1988, A randomized parallel backtracking algorithm, IEEE Trans. Computers 37(12), 1665-1675.
17. Karp, R. and Zhang, Y.: 1993, Randomized parallel algorothms for backtrack search and branch -and-bound computation, J. ACM 40(3), 765-789.
18. Kavraki, L. E. and Latombe, J. C.: 1998, Probabilistic roadmaps for robot path planning, in: K. Gupta and A. del Pobil (eds), Practical Motion Planning in Robotics: Current Approaches and Future Directions, Wiley, New York, pp. 33-53.
19. Kim, S. W. and Boley, D.: 2001, Building and navigating a network of local minima, J. Robotic Systems 18(8), 405-419.
20. Latombe, J. C.: 1991, Robot Motion Planning, Kluwer Academic Publishers, Norwell, MA.
21. Li, G.-J. and Wah, B. W.: 1986, Coping with anomalies in parallel branch-and-bound algorithms, IEEE Trans. Computers 35.
22. Mehrotra, R. and Gehringer, E. F.: 1985, Superlinear speedup through randomized algorithms, in: Proc. of Internat. Conf. on Parallel Processing, pp. 291-300.
23. Rao, V. N. and Kumar, V.: 1993, On the efficiency of parallel backtracking, IEEE Trans. Parallel Distributed Systems 4(4), 427-437.
24. Reeves, C. R.: 1993, Modern Heuristic Techniques for Combinatorial Problems, Wiley, New York.
25. Reif, J.: 1979, Complexity of the Mover's problem and generalizations, in: Proc. of IEEE Symposium on Foundations of Computer Science, pp. 421-427.