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Scalable Multicore Motion Planning Using Lock-Free Concurrency
We present PRRT (Parallel RRT) and PRRT* (Parallel RRT*), sampling-based methods for feasible and optimal motion planning designed for modern multicore CPUs. We parallelize RRT and RRT* such that all threads concurrently build a single motion planning tree. Parallelization in this manner requires th...
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| Publicado no: | IEEE Trans Robot |
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| Main Authors: | , |
| Formato: | Artigo |
| Idioma: | Inglês |
| Publicado em: |
2014
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| Assuntos: | |
| Acesso em linha: | https://ncbi.nlm.nih.gov/pmc/articles/PMC4494121/ https://ncbi.nlm.nih.gov/pubmed/26167135 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1109/TRO.2014.2331091 |
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