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Parallelizing RRT on large-scale distributed-memory architectures

Devaurs, Didier and Siméon, Thierry and Cortés, Juan Parallelizing RRT on large-scale distributed-memory architectures. (2013) IEEE Transactions on Robotics and Automation, 29 (2). 571-579. ISSN 1042-296X

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Official URL: http://dx.doi.org/10.1109/TRO.2013.2239571


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.

Item Type:Article
Additional Information:Thanks to IEEE Transactions on Robotics editor. The definitive version is available at http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=8860 The original PDF of the article can be found at IEEE Transactions on Robotics website : http://dx.doi.org/10.1109/TRO.2013.2239571
HAL Id:hal-00861579
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
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)
Laboratory name:
Deposited On:14 May 2013 14:02

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