Parallelizing RRT on Large-Scale Distributed-Memory Architectures
Didier Devaurs, Thierry Siméon, Juan Cortés · IEEE Transactions on Robotics · 2013
This paper addresses the problem of parallelizing the Rapidly-exploring Random Tree (RRT) algorithm on large-scale distributed-memory architectures, using the message passing interface. We compare three parallel versions of RRT based on classical parallelization schemes. We evaluate them on different motion-planning problems and analyze the various factors influencing their performance.