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Conference Paper: Real-time optimization-based planning in dynamic environments using GPUs

TitleReal-time optimization-based planning in dynamic environments using GPUs
Authors
Park, ChonhyonPan, JiaManocha, Dinesh
Issue Date2012
Citation
Proceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012, 2012, p. 168-170 How to Cite?
AbstractWe 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 Identifierhttp://hdl.handle.net/10722/206227

 

DC FieldValueLanguage
dc.contributor.authorPark, Chonhyon-
dc.contributor.authorPan, Jia-
dc.contributor.authorManocha, Dinesh-
dc.date.accessioned2014-10-22T01:25:29Z-
dc.date.available2014-10-22T01:25:29Z-
dc.date.issued2012-
dc.identifier.citationProceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012, 2012, p. 168-170-
dc.identifier.urihttp://hdl.handle.net/10722/206227-
dc.description.abstractWe 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.languageeng-
dc.relation.ispartofProceedings of the 5th Annual Symposium on Combinatorial Search, SoCS 2012-
dc.titleReal-time optimization-based planning in dynamic environments using GPUs-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-84893423918-
dc.identifier.spage168-
dc.identifier.epage170-

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