Parallelizing RRT on large-scale distributed-memory architectures

Didier Devaurs (1) , Thierry Simeon (1) , Juan Cortés (1)

1 LAAS-RIS - Équipe Robotique et InteractionS

This paper addresses the problem of parallelizing the Rapidly-exploring Random Tree (RRT) algorithm on large-scale distributed-memory architectures, using the Message Passing Interface. We compare three parallel versions of RRT based on classical parallelization schemes. We evaluate them on different motion planning problems and analyze the various factors influencing their performance.

Mots clés: Path planning; Rapidly-exploring random tree; Parallel algorithms; Message passing; Distributed memory

Domaines: Interface homme-machine [cs.HC]

Didier Devaurs, Thierry Simeon, Juan Cortés. Parallelizing RRT on large-scale distributed-memory architectures. IEEE Transactions on Robotics, 2013, 29 (2), pp. 571-579. ⟨10.1109/TRO.2013.2239571⟩. ⟨hal-00861579⟩