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From Days to Seconds: Scalable Parallel Algorithm for Motion Planning
SESSION: ACM Student Research Competition Poster Session
EVENT TYPE: ACM Student Research Competition Poster
TIME: 5:15PM - 7:00PM
SESSION CHAIR: Bernd Mohr
AUTHOR(S):Sam Ade Jacobs
ROOM:WSCC North Galleria 2nd/3rd Floors
ABSTRACT: This poster describes a method for parallelizing sampling based motion planning algorithms. Our method uses subdivision of the configuration space to achieve scalability. We subdivide the space such that graphs or trees are constructed in each subdivision using any sequential sampling-based motion planning algorithm. Graphs or trees in each subdivision are later connected to form a roadmap.
By subdividing the space, we greatly reduce the overhead of inter-processor communication, a critical drawback to scalability in existing parallel motion planning work.
An important consequence of our approach is that it guarantees scalability. It is also general enough to handle variety of planning schemes. We compare our approach to two other existing parallel algorithms and demonstrate that our approach achieves better and scalable performance. Our preliminary results show almost linear scalability to hundreds of processors on two massively parallel
machines one of which is a petascale machine at Lawrence Livermore National Lab.
Bernd Mohr (Chair) - Juelich Supercomputing Centre