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Parallel computation of configuration space on reconfigurable mesh with faults

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2 Author(s)
Jenq, J.J.-F. ; Dept. of Comput. Sci., Montclair State Univ., Upper Montclair, NJ, USA ; Dajin Wang

A reconfigurable mesh (RMESH) can be used to compute robotic paths in the presence of obstacles, where the robot and obstacle images are represented and processed in mesh processors. For a non-point-like robot, we can compute the so-called “configuration space” to expand the obstacles, so that the robot can be reduced to a reference point to facilitate the robot's motion planning. In this paper, we present algorithms to compute the configuration space in a reconfigurable mesh that contains sparsely distributed faulty processors. Robots of rectangular and circular shapes are treated. It is seen that, in terms of computing the configuration space, a reconfigurable mesh can tolerate faulty processors without much extra cost-the computation takes the optimal O(1) time in both fault-free and faulty reconfigurable meshes

Published in:

Parallel Processing, 2000. Proceedings. 2000 International Workshops on

Date of Conference:

2000

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