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. nle 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 emphasize 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, S.; Reggiani, M.. - (1999), pp. 297-304. (Intervento presentato al convegno Seventh Euromicro Workshop on Parallel and Distributed Processing. PDP'99 tenutosi a Funchal, PT nel 3-5 February, 1999) [10.1109/EMPDP.1999.746692].

Randomized motion planning on parallel and distributed architectures

Caselli S.
;
Reggiani M.
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. nle 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 emphasize 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.
1999
0-7695-0059-5
Randomized motion planning on parallel and distributed architectures / Caselli, S.; Reggiani, M.. - (1999), pp. 297-304. (Intervento presentato al convegno Seventh Euromicro Workshop on Parallel and Distributed Processing. PDP'99 tenutosi a Funchal, PT nel 3-5 February, 1999) [10.1109/EMPDP.1999.746692].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11381/2937862
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