The anatomy of a distributed motion planning roadmap

Sam Ade Jacobs, Nancy M. Amato

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

Abstract

© 2014 IEEE. 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.
Original languageEnglish (US)
Title of host publication2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages3019-3026
Number of pages8
ISBN (Print)9781479969340
DOIs
StatePublished - Sep 2014
Externally publishedYes

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