GPU-Based Dynamic Search on Adaptive Resolution Grids

Simple item page
dc.contributor.authorGarcia, Francisco M.
dc.contributor.authorKapadia, Mubbasir
dc.contributor.authorBadler, Norman I.
dc.contributor.authorBadler, Norman I
dc.date2023-05-17T12:40:59.000
dc.date.accessioned2023-05-22T19:32:01Z
dc.date.available2023-05-22T19:32:01Z
dc.date.issued2014-01-01
dc.date.submitted2015-11-06T12:36:50-08:00
dc.description.abstractThis paper presents a GPU-based wave-front propagation technique for multi-agent path planning in extremely large, complex, dynamic environments. Our work proposes an adaptive subdivision of the environment with efficient indexing, update, and neighbor-finding operations on the GPU to address several known limitations in prior work. In particular, an adaptive environment representation reduces the device memory requirements by an order of magnitude which enables for the first time, GPU-based goal path planning in truly large-scale environments (> 2048 m2 ) for hundreds of agents with different targets. We compare our approach to prior work that uses an uniform grid on several challenging navigation benchmarks and report significant memory savings, and up to a 1000X computational speedup.
dc.description.commentsICRA was held May 31-June7, 2014, in Hong Kong.
dc.identifier.urihttps://repository.upenn.edu/handle/20.500.14332/36418
dc.legacy.articleid1164
dc.legacy.fields10.1109/ICRA.2014.6907070
dc.legacy.fulltexturlhttps://repository.upenn.edu/cgi/viewcontent.cgi?article=1164&context=hms&unstamped=1
dc.rights© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
dc.source.beginpage1631
dc.source.endpage1638
dc.source.issue150
dc.source.journalCenter for Human Modeling and Simulation
dc.source.journaltitleIEEE International Conference on Robotics and Automation (ICRA 2014)
dc.source.statuspublished
dc.subject.otherComputer Sciences
dc.subject.otherEngineering
dc.subject.otherGraphics and Human Computer Interfaces
dc.titleGPU-Based Dynamic Search on Adaptive Resolution Grids
dc.typePresentation
digcom.identifierhms/150
digcom.identifier.contextkey7815876
digcom.identifier.submissionpathhms/150
digcom.typeconference
dspace.entity.typePublication
relation.isAuthorOfPublication4c7b95c3-d324-4ee8-b075-7c5933b12a23
relation.isAuthorOfPublication4c7b95c3-d324-4ee8-b075-7c5933b12a23
relation.isAuthorOfPublication.latestForDiscovery4c7b95c3-d324-4ee8-b075-7c5933b12a23
upenn.schoolDepartmentCenterCenter for Human Modeling and Simulation
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
GPU_based_Dynamic_Search_on_Adaptive_Resolution_Grids.pdf
Size:
560.24 KB
Format:
Adobe Portable Document Format
Download
Collection
Presentations