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Parallelizing RRT on Large-Scale Distributed-Memory Architectures
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DOI：10.1109/TRO.2013.2239571.png)
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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.
Keyword:
Distributed memory
message passing
parallel algorithms
path planning
rapidly-exploring random tree (RRT)
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