Parallelizing RRT on Large-Scale Distributed-Memory Architectures
- 29 January 2013
- journal article
- research article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics
- Vol. 29 (2), 571-579
- https://doi.org/10.1109/tro.2013.2239571
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
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