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Parallelizing RRT on Large-Scale Distributed-Memory Architectures

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3 Author(s)
Didier Devaurs ; CNRS, LAAS, 7 avenue du colonel Roche, France ; Thierry Siméon ; Juan Cortés

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.

Published in:

IEEE Transactions on Robotics  (Volume:29 ,  Issue: 2 )