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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 | 2012 |
Citation | Proceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012, 2012, p. 168-170 How to Cite? |
Abstract | We present a novel algorithm to compute collision-free trajectories in dynamic environments. Our approach is general and makes no assumption 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 high number of cores on commodity graphics processors (GPUs) to compute a highquality path in a given time interval. Overall, we show that search in configuration spaces can be significantly accelerated by using GPU parallelism. Copyright © 2012, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved. |
Persistent Identifier | http://hdl.handle.net/10722/206227 |
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 | 2012 | - |
dc.identifier.citation | Proceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012, 2012, p. 168-170 | - |
dc.identifier.uri | http://hdl.handle.net/10722/206227 | - |
dc.description.abstract | We present a novel algorithm to compute collision-free trajectories in dynamic environments. Our approach is general and makes no assumption 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 high number of cores on commodity graphics processors (GPUs) to compute a highquality path in a given time interval. Overall, we show that search in configuration spaces can be significantly accelerated by using GPU parallelism. Copyright © 2012, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012 | - |
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.scopus | eid_2-s2.0-84893423918 | - |
dc.identifier.spage | 168 | - |
dc.identifier.epage | 170 | - |