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- Publisher Website: 10.1109/ICRA.2013.6631154
- Scopus: eid_2-s2.0-84887269503
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Conference Paper: Real-time optimization-based planning in dynamic environments using GPUs
Title | Real-time optimization-based planning in dynamic environments using GPUs |
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Authors | |
Issue Date | 2013 |
Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2013, p. 4090-4097 How to Cite? |
Abstract | We present a novel algorithm to compute collision-free trajectories in dynamic environments. Our approach is general and does not require a priori knowledge about the obstacles or their motion. We use a replanning framework that interleaves optimization-based planning with execution. Furthermore, we describe a parallel formulation that exploits a high number of cores on commodity graphics processors (GPUs) to compute a high-quality path in a given time interval. We derive bounds on how parallelization can improve the responsiveness of the planner and the quality of the trajectory. © 2013 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/206222 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
DC Field | Value | Language |
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dc.contributor.author | Park, Chonhyon | - |
dc.contributor.author | Pan, Jia | - |
dc.contributor.author | Manocha, Dinesh | - |
dc.date.accessioned | 2014-10-22T01:25:29Z | - |
dc.date.available | 2014-10-22T01:25:29Z | - |
dc.date.issued | 2013 | - |
dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2013, p. 4090-4097 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/206222 | - |
dc.description.abstract | We present a novel algorithm to compute collision-free trajectories in dynamic environments. Our approach is general and does not require a priori knowledge about the obstacles or their motion. We use a replanning framework that interleaves optimization-based planning with execution. Furthermore, we describe a parallel formulation that exploits a high number of cores on commodity graphics processors (GPUs) to compute a high-quality path in a given time interval. We derive bounds on how parallelization can improve the responsiveness of the planner and the quality of the trajectory. © 2013 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.title | Real-time optimization-based planning in dynamic environments using GPUs | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ICRA.2013.6631154 | - |
dc.identifier.scopus | eid_2-s2.0-84887269503 | - |
dc.identifier.spage | 4090 | - |
dc.identifier.epage | 4097 | - |
dc.identifier.issnl | 1050-4729 | - |