Center for Human Modeling and Simulation

Document Type

Conference Paper

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Publication Source

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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The 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) was held November 3-7, 2013 in Tokyo.


Path finding is a fundamental, yet computationally expensive problem in robotics navigation. Often times, it is necessary to sacrifice optimality to find a feasible plan given a time constraint due to the search complexity. Dynamic environments may further invalidate current computed plans, requiring an efficient planning strategy that can repair existing solutions. This paper presents a massively parallelized wavefront-based approach to path planning, running on the GPU, that can efficiently repair plans to accommodate world changes and agent movement, without having to restart the wavefront propagation process. In addition, we introduce a termination condition which ensures the minimum number of GPU iterations while maintaining strict optimality constraints on search graphs with non-uniform costs/

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Date Posted: 13 January 2016