Proceedings:
Book One
Volume
Issue:
Proceedings of the International Conference on Automated Planning and Scheduling, 24
Track:
Journal Special Track
Downloads:
Abstract:
In (Otte and Correll 2013) we present C-FOREST, a parallelization framework for single-query sampling-based shortest-path planning algorithms. C-FOREST has been observed to have super linear speedup on many problems, e.g., paths of quality Ltarget are found 350X faster by 64 CPUs working in parallel than by 1 CPU. In (Otte and Correll 2013) C-FOREST is tested in conjunction with the RRT* algorithm. In the current work we perform additional experiments that show C-FOREST provides similar advantages when used conjunction with the SPRT algorithm. This reinforces our original claim that C-FOREST is generally applicable to a wide range of sampling based motion planning algorithms.
DOI:
10.1609/icaps.v24i1.13660
ICAPS
Proceedings of the International Conference on Automated Planning and Scheduling, 24