Massively parallelizing the RRT and the RRT

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2011, Pages 3513-3518

  Bialkowski, Joshua ^a   Karaman, Sertac ^b   Frazzoli, Emilio ^a  

^a Massachusetts Institute of Technology   (United States)

^b Department of Electrical Engineering and Computer Science   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COLLISION-CHECKING; COMPUTATIONAL POWER; CONFIGURATION SPACE; GRAPHICS PROCESSING; GRAPHICS PROCESSING UNITS; HIGH-DIMENSIONAL; OPTIMAL MOTION PLANNING; PARALLEL IMPLEMENTATIONS; PARALLELIZING; PRACTICAL ALGORITHMS; RAPIDLY-EXPLORING RANDOM TREES; ROBOT MOTION PLANNING; ROBOTIC MANIPULATORS; SAMPLING-BASED; SAMPLING-BASED MOTION PLANNING; SCIENTIFIC COMPUTATION;

ALGORITHMS; INTELLIGENT ROBOTS; MANIPULATORS; MOTION PLANNING; OPTIMIZATION; PROGRAM PROCESSORS; ROBOTICS; TREES (MATHEMATICS);

ROBOT PROGRAMMING;

EID: 84455188499     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2011.6048813     Document Type: Conference Paper

References (14)

1. J. C. Latombe, "Motion planning: A journey of robots, molecules, digital actors, and other artifacts," International Journal of Robotics Research, vol. 18, no. 11, pp. 1119-1128, 1999.
2. J. H. Reif, "Complexity of the mover's problem and generalizations,"in Proceedings of the IEEE Symposium on Foundations of Computer Science, 1979.
3. L. E. Kavraki, P. Svestka, J. C. Latombe, and M. H. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces," IEEE Transactions on Robotics and Automation, vol. 12, no. 4, pp. 566-580, 1996. (Pubitemid 126774162)
4. S. LaValle and J. J. Kuffner, "Randomized kinodynamic planning,"International Journal of Robotics Research, vol. 20, no. 5, pp. 378-400, 2001.
5. S. LaValle, Planning Algorithms. Cambridge University Press, 2006.
6. Y. Kuwata, J. Teo, G. Fiore, S. Karaman, E. Frazzoli, and J. How, "Real-time motion planning with applications to autonomous urban driving," IEEE Transactions on Control Systems, vol. 17, no. 5, pp. 1105-1118, 2009.
7. S. Karaman and E. Frazzoli, "Sampling-based algorithms for optimal motion planning," International Journal of Robotics Research (to appear), 2011.
8. S. Carpin and E. Pagello, "On parallel RRTs for multi-robot systems,"in Proc. 8th Conf. Italian Association for Artificial Intelligence, Pisa, Italy, Sep 2003, p. pages?
9. S. Sengupta, "A parallel randomized path planner for robot navigation,"International Journal of Advanced Robotic Systems, vol. 3, pp. 256-266, Sep 2006.
10. E. Plaku, K. Bekris, B. Chen, A. Ladd, and L. Kavraki, "Sampling-based roadmap of trees for parallel motion planning," Robotics, IEEE Transactions on, vol. 21, no. 4, pp. 597-608, Aug 2005. (Pubitemid 41226890)
11. H. Samet, Design and Analysis of Spatial Data Structures. Addison-Wesley, 1989.
12. S. Arya, D. M. Mount, R. Silverman, and A. Y. Wu, "An optimal algorithm for approximate nearest neighbor search in fixed dimensions, "Journal of the ACM, vol. 45, no. 6, pp. 891-923, November 1999.
13. Valgrind Developers. (2011, Jul) Callgrind manual. [Online]. Available: http://valgrind.org/docs/manual/cl-manual.html
14. NVIDIA CUDA C Programming Guide, NVIDIA, Nov 2010.