Abstract
This paper exploits the computing power of widely available multi-core machines to accelerate the trajectory planning by parallelisation of the search algorithm. In particular we investigate the approach that schedules the workload on the cores using the hashing function based on the geographical partitioning of the search space. We use this approach to parallelize the AA* algorithm. In our solution, each partition of the geographical space is represented as an agent. The concept is evaluated on the simulation of real-time trajectory planning of aircraft respecting the environment and real aircraft performance models. We show that the approach decreases the planning time significantly on common multi-core machines preserving the quality of the trajectory provided by AA* algorithm.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Burns, E., Lemons, S., Zhou, R., Ruml, W.: Best-first heuristic search for multi-core machines. In: Proceedings of the 21st International Jont Conference on Artifical Intelligence, pp. 449–455. Morgan Kaufmann Publishers Inc., San Francisco (2009)
Burns, E., Lemons, S., Zhou, R., Ruml, W.: Parallel best-first search: The role of abstraction. In: Proceedings of the AAAI 2010 Workshop on Abstraction, Reformulation, and Approximation (2010)
Evett, M., Mahanti, A., Nau, D., Hendler, J., Hendler, J.: Pra*: Massively parallel heuristic search. Journal of Parallel and Distributed Computing 25, 133–143 (1995)
Kishimoto, A., Fukunaga, A., Botea, A.: Scalable, Parallel Best-First Search for Optimal Sequential Planning. In: Proceedings of the International Conference on Automated Scheduling and Planning ICAPS 2009, Thessaloniki, Greece, pp. 201–208 (2009)
Pěchouček, M., Šišlák, D.: Agent-based approach to free-flight planning, control, and simulation. IEEE Intelligent Systems 24(1) (January-February 2009)
Šišlák, D., Volf, P., Pěchouček, M.: Accelerated A* trajectory planning: Gridbased path planning comparison. In: Proceedings of the 19th International Conference on Automated Planning & Scheduling (ICAPS), pp. 74–81. AAAI, Menlo Park (2009)
Šišlák, D., Volf, P., Pěchouček, M.: Flight trajectory path planning. In: Proceedings of the 19th International Conference on Automated Planning & Scheduling (ICAPS), pp. 76–83. AAAI Press, Menlo Park (2009)
Šišlák, D., Volf, P., Pěchouček, M.: Accelerated A* path planning. In: Proceedings of the 8th International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS). ACM Press, New York (2009)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Kopřiva, Š., Šišlák, D., Pěchouček, M. (2012). Towards Parallel Real-Time Trajectory Planning. In: Demazeau, Y., Müller, J., Rodríguez, J., Pérez, J. (eds) Advances on Practical Applications of Agents and Multi-Agent Systems. Advances in Intelligent and Soft Computing, vol 155. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-28786-2_11
Download citation
DOI: https://doi.org/10.1007/978-3-642-28786-2_11
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-28785-5
Online ISBN: 978-3-642-28786-2
eBook Packages: EngineeringEngineering (R0)