Massively Parallel Construction of the Cell Graph
Distributed, Parallel, and Cluster Computing
2015-03-23 v1
Abstract
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.
Cite
@article{arxiv.1503.06029,
title = {Massively Parallel Construction of the Cell Graph},
author = {Krzysztof Kaczmarski and Paweł Rzążewski and Albert Wolant},
journal= {arXiv preprint arXiv:1503.06029},
year = {2015}
}