Parallel Search Algorithms for Robot Motion Planning

In this paper weshowthat parallel search techniquesderived fromtheir sequential counterparts can enable the solution of instances of the robot motionplanningproblemthat are computationallyinfeasible on sequential machines.Wepresent a simpleparallel version of a robot motionplanning algorithmbasedon "quasi best first" search with randomizedescape from local minimaand randombacktracking and discuss its performanceon two problem instances, one of which was computationaUyinfeasible on a single processor of an nCUBE21 multicomputer. Wethen discuss the limitations of parallel robot motion planning systems, and suggest a course for future work.

• Type: Conference
• Year: 1993
• Where: ICRA
• Authors: Daniel J. Challou, Maria L. Gini, Vipin Kumar
• Keywords: ICRA 1993, Parallel Robot Motion, Robot, Robotics, Sequential Counterparts