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2005
IEEE

Distributed Sampling-Based Roadmap of Trees for Large-Scale Motion Planning

10 years 3 months ago
Distributed Sampling-Based Roadmap of Trees for Large-Scale Motion Planning
Abstract— High-dimensional problems arising from complex robotic systems test the limits of current motion planners and require the development of efficient distributed motion planners that take full advantage of all the available resources. This paper shows how to effectively distribute the computation of the Sampling-based Roadmap of Trees (SRT) algorithm using a decentralized master-client scheme. The distributed SRT algorithm allows us to solve very highdimensional problems that cannot be efficiently addressed with existing planners. Our experiments show nearly linear speedups with eighty processors and indicate that similar speedups can be obtained with several hundred processors.
Erion Plaku, Lydia E. Kavraki
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Erion Plaku, Lydia E. Kavraki
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