Probabilistic Roadmap Methods are Embarrassingly Parallel
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چکیده
In this paper we report on our experience parallelizing probabilistic roadmap motion planning methods (prms). We show that signi cant, scalable speedups can be obtained with relatively little e ort on the part of the developer. Our experience is not limited to prms, however. In particular, we outline general techniques for parallelizing types of computations commonly performed in motion planning algorithms, and identify potential di culties that might be faced in other e orts to parallelize sequential motion plan-
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تاریخ انتشار 1999