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    Using Load Balancing to Scalably Parallelize Sampling-Based Motion Planning Algorithms

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    Type
    Conference Paper
    Authors
    Fidel, Adam
    Jacobs, Sam Ade
    Sharma, Shishir
    Amato, Nancy M.
    Rauchwerger, Lawrence
    KAUST Grant Number
    KUS-C1-016-04
    Date
    2014-05
    Permanent link to this record
    http://hdl.handle.net/10754/600151
    
    Metadata
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    Abstract
    Motion planning, which is the problem of computing feasible paths in an environment for a movable object, has applications in many domains ranging from robotics, to intelligent CAD, to protein folding. The best methods for solving this PSPACE-hard problem are so-called sampling-based planners. Recent work introduced uniform spatial subdivision techniques for parallelizing sampling-based motion planning algorithms that scaled well. However, such methods are prone to load imbalance, as planning time depends on region characteristics and, for most problems, the heterogeneity of the sub problems increases as the number of processors increases. In this work, we introduce two techniques to address load imbalance in the parallelization of sampling-based motion planning algorithms: an adaptive work stealing approach and bulk-synchronous redistribution. We show that applying these techniques to representatives of the two major classes of parallel sampling-based motion planning algorithms, probabilistic roadmaps and rapidly-exploring random trees, results in a more scalable and load-balanced computation on more than 3,000 cores. © 2014 IEEE.
    Citation
    Fidel A, Jacobs SA, Sharma S, Amato NM, Rauchwerger L (2014) Using Load Balancing to Scalably Parallelize Sampling-Based Motion Planning Algorithms. 2014 IEEE 28th International Parallel and Distributed Processing Symposium. Available: http://dx.doi.org/10.1109/IPDPS.2014.66.
    Sponsors
    This research supported in part by NSF awards CNS-0551685, CCF-0833199, CCF-0830753, IIS-0916053, IIS-0917266, EFRI-1240483, RI-1217991, by NIH NCI R25 CA090301-11, by DOE awards DE-AC02-06CH11357, B575363, by Samsung, Chevron, IBM, Intel, Oracle/Sun andby Award KUS-C1-016-04, made by King Abdullah University of Scienceand Technology (KAUST). This research used resources of the NationalEnergy Research Scientific Computing Center, which is supported by theOffice of Science of the U.S. Department of Energy under Contract No.DE-AC02-05CH11231.
    Publisher
    Institute of Electrical and Electronics Engineers (IEEE)
    Journal
    2014 IEEE 28th International Parallel and Distributed Processing Symposium
    DOI
    10.1109/IPDPS.2014.66
    ae974a485f413a2113503eed53cd6c53
    10.1109/IPDPS.2014.66
    Scopus Count
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