Motion planning is a fundamental problem in a number of application areas, including robotics, automation, and virtual reality. This paper describes a parallel implementation of a motion planning algorithm particularly suited for complex systems characterized by many degrees of freedom. The implementation is based on the concurrent exploration of the search space by a randomized planner replicated on each node of the parallel architecture. All processing elements compete to obtain a solution over the entire search space in an OR-parallel fashion. Reported results refer to a low-cost cluster of PCs and an SGI Onyx2 parallel machine. The experiments emphasise the effectiveness of the approach for complex, high-dimensionality planning problems, We believe that the approach may be useful in other complex search problems, especially when the parallel architecture exhibits relatively high communication latency.
Randomized Motion Planning on Parallel and Distributed Architectures / Caselli, Stefano; Reggiani, Monica. - (1999), pp. 297-304. (Intervento presentato al convegno 7th Euromicro Workshop on Parallel and Distributed Processing (PDP'99) tenutosi a Funchal, Portugal nel February 3-5, 1999) [10.1109/EMPDP.1999.746692].
Randomized Motion Planning on Parallel and Distributed Architectures
CASELLI, Stefano;REGGIANI, Monica
1999-01-01
Abstract
Motion planning is a fundamental problem in a number of application areas, including robotics, automation, and virtual reality. This paper describes a parallel implementation of a motion planning algorithm particularly suited for complex systems characterized by many degrees of freedom. The implementation is based on the concurrent exploration of the search space by a randomized planner replicated on each node of the parallel architecture. All processing elements compete to obtain a solution over the entire search space in an OR-parallel fashion. Reported results refer to a low-cost cluster of PCs and an SGI Onyx2 parallel machine. The experiments emphasise the effectiveness of the approach for complex, high-dimensionality planning problems, We believe that the approach may be useful in other complex search problems, especially when the parallel architecture exhibits relatively high communication latency.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.