2015/03/20 by Kaczmarski, Krzysztof, Rzążewski, Paweł, Wolant, Albert
#Distributed #FOS: Computer and information sciences #Parallel #and Cluster Computing (cs.DC)
paper · doi:10.48550/arxiv.1503.06029
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.