Motion planning is an important and well-studied field of robotics. A typical approach to finding a route is to construct a cell graph representing a scene and then to find a path in such a graph. In this paper we present and analyze parallel algorithms for constructing the cell graph on a SIMD-like GPU processor. Additionally, we present a new implementation of the dictionary data type on a GPU device. In the contrary to hash tables, which are common in GPU algorithms, it uses a radix search tree in which all values are kept in leaves. With such a structure we can effectively perform dictionary operations on a set of long vectors over a limited alphabet.
CITATION STYLE
Kaczmarski, K., Rzążewski, P., & Wolant, A. (2016). Massively parallel construction of the cell graph. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 9573, pp. 559–569). Springer Verlag. https://doi.org/10.1007/978-3-319-32149-3_52
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