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Massively Parallel Construction of the Cell Graph

Motion planning is an important and well-studied field of robotics. A typical approach to finding a route is to construct a {\em 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 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.

preprint2015arXivOpen access
Krzysztof KaczmarskiPaweł RzążewskiAlbert Wolant
Distributed, Parallel, and Cluster Computing
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Open access3 authors1 topic
Imported metadata coverageMissing code, dataset, citation and institution fields are tracked without dominating the paper.Details
Citations: 0Reviews: 0Saves: 0Code: not linkedDataset: not linkedInstitutions: 0

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Krzysztof KaczmarskiPaweł RzążewskiAlbert Wolant

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