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Fast motion planning by parallel processing - A review
Dominik Henrich

Abstract (english)
One of the many features needed to support the activities of autonomous systems is the ability of motion planning. It enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, the control loop comprising sensing, planning, and acting has not yet been closed for robots in dynamic environments. One reason involves the long execution times of the motion planning component. A solution for this problem is offered by the use of highly computational parallelism. Thus, an important task is the parallelization of existing motion planning algorithms for robots so that they are suitable for highly computational parallelism. In several cases, completely new algorithms have to be designed, so that a parallelization is feasible. In this survey, we review recent approaches to motion planning using parallel computation. As a classification scheme, we use the structure given by the different approaches to the robot's motion planning. For each approach, the available parallel processing methods are discussed. Each approach is uniquely assigned a class. Finally, for each referenced research work, a list of keywords is given.

Publication data

Year: 1997
Publication date: 01. September 1997
Source: Journal of Intelligent and Robotic Systems, Vol. 20, No. 1, pp. 45-69, Sept. 1997
Project: SKALP , PARO
Keywords (english): autonomous system , motion planning , parallel processing , review


  TITLE             = "Fast motion planning by parallel processing - A review",
  AUTHOR            = "Henrich, Dominik",
  YEAR              = "1997",
  JOURNAL           = "Journal of Intelligent and Robotic Systems, Vol. 20, No. 1, pp. 45-69, Sept. 1997",
  HOWPUBLISHED      = "\url{}",


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