By Topic

Parallel compact roadmap construction of 3D virtual environments on the GPU

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Avi Bleiweiss ; NVIDIA Corporation, Santa Clara, CA 95050 USA

The representation of probabilistic graphical model often encodes a network whose size is unboundedly large. Such networks pose particular challenges to inference algorithms, specifically making the task of robot path queries highly inefficient due to poor locality of memory references. Whereas a more predictable, resolution complete method yields a highly compact graph structure that captures much of the signal in distributing the configuration free space. In this paper we demonstrate an efficient data parallel algorithm for mapping the computationally intensive, Reachability Roadmap method on the GPU. For our implementation on the recently introduced NVIDIA's Fermi architecture, we show roadmap construction time under twenty seconds for a closure resolution of 55×55×55 cells. Moving forward, our system is well positioned to address smooth navigation of robots in a dynamically changing 3D virtual environment.

Published in:

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Date of Conference:

18-22 Oct. 2010