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Parallelizing RRT on distributed-memory architectures

Devaurs, Didier and Siméon, Thierry and Cortés, Juan Parallelizing RRT on distributed-memory architectures. (2011) In: IEEE International Conference on Robotics and Automation, ICRA '11, 9 - 13 May 2011, Shanghai, China .

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Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5979751&tag=1


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.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to IEEE editor. This paper was published in Robotics and Automation (ICRA), 2011 IEEE International Conference on, ISSN 1050-4729, Print ISBN: 978-1-61284-386-5, DOI 10.1109/ICRA.2011.5979751. The definitive version is available at http://ieeexplore.ieee.org /xpls/abs_all.jsp?arnumber=5979751&tag=1. (c) 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works
Audience (conference):International conference proceedings
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Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Université de Toulouse > Institut National des Sciences Appliquées de Toulouse - INSA (FRANCE)
Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UT3 (FRANCE)
Université de Toulouse > Université Toulouse - Jean Jaurès - UT2J (FRANCE)
Université de Toulouse > Université Toulouse 1 Capitole - UT1 (FRANCE)
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Deposited On:24 Jul 2013 08:02

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