Parallel search algorithms for robot motion planning

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Scopus citations

Abstract

In this paper we show that parallel search techniques derived from their sequential counterparts can enable the solution of instances of the robot motion planning problem which are computationally infeasible on sequential machines. We present a parallel version of a robot motion planning algorithm based on 'quasi best first' search with randomized escape from local minima and random backtracking and discuss its performance on a problem instance which was computationally infeasible on a single processor of an nCUBE22 multicomputer. We also discuss the limitations of parallel robot motion planning systems, and suggest a course for future work.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages46-57
Number of pages12
ISBN (Print)0818634529
StatePublished - Jan 1 1993
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: May 2 1993May 6 1993

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2
ISSN (Print)1050-4729

Other

OtherProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period5/2/935/6/93

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