On Parallel RRTs for Multi-robot Systems

Rapidly-exploring Random Trees are planning algorithms recently introduced for a broad class of path planning problems. In this paper we provide three different ways to better the performance of such algorithms. Numerical results obtained implementing them over a parallel system outline an optimal speed up.

[1]  Joseph JáJá,et al.  An Introduction to Parallel Algorithms , 1992 .

[2]  Steven M. LaValle,et al.  Randomized Kinodynamic Planning , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[3]  Steven M. LaValle,et al.  RRT-connect: An efficient approach to single-query path planning , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[4]  S. Sitharama Iyengar,et al.  Introduction to parallel algorithms , 1998, Wiley series on parallel and distributed computing.

[5]  Dominik Henrich,et al.  A review of parallel processing approaches to motion planning , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[6]  Steven M. LaValle,et al.  Rapidly-Exploring Random Trees: Progress and Prospects , 2000 .

[7]  Vipin Kumar,et al.  Parallel search algorithms for robot motion planning , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[8]  Masayuki Inaba,et al.  Motion planning for humanoid robots under obstacle and dynamic balance constraints , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[9]  Stefano Caselli,et al.  ERPP: An experience-based randomized path planner , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[10]  Nancy M. Amato,et al.  Probabilistic roadmap methods are embarrassingly parallel , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[11]  B. Faverjon,et al.  Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces , 1996 .

[12]  Jean-Claude Latombe,et al.  Motion Planning: A Journey of Robots, Molecules, Digital Actors, and Other Artifacts , 1999, Int. J. Robotics Res..

[13]  John H. Reif,et al.  Complexity of the mover's problem and generalizations , 1979, 20th Annual Symposium on Foundations of Computer Science (sfcs 1979).