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The anatomy of a distributed motion planning roadmap | IEEE Conference Publication | IEEE Xplore

The anatomy of a distributed motion planning roadmap


Abstract:

In this paper, we evaluate and compare the quality and structure of roadmaps constructed from parallelizing sampling-based motion planning algorithms against that of road...Show More

Abstract:

In this paper, we evaluate and compare the quality and structure of roadmaps constructed from parallelizing sampling-based motion planning algorithms against that of roadmaps constructed using sequential planner. Also, we make an argument and provide experimental results that show that motion planning problems involving heterogenous environments (common in most realistic and large-scale motion planning) is a natural fit for spatial subdivision-based parallel processing. Spatial subdivision-based parallel processing approach is suited for heterogeneous environments because it allows for local adaption in solving a global problem while taking advantage of scalability that is possible with parallel processing.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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Conference Location: Chicago, IL, USA

References

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