GPU Robot Motion Planning Using Semi-Infinite Nonlinear Programming

We propose a many-core GPU implementation of robotic motion planning formulated as a semi-infinite optimization program. Our approach computes the constraints and their gradients in parallel, and feeds the result to a nonlinear optimization solver running on the CPU. To ensure the continuous satisfa...

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Bibliographic Details
Published in:	IEEE transactions on parallel and distributed systems Vol. 27; no. 10; pp. 2926 - 2939
Main Authors:	Chretien, Benjamin, Escande, Adrien, Kheddar, Abderrahmane
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.10.2016 The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Institute of Electrical and Electronics Engineers
Subjects:	Computer Science CUDA Distributed, Parallel, and Cluster Computing GPGPU Graphics processing units HPC Kinematics motion planning nonlinear optimization Optimization parallel computing Planning Robot kinematics Robotics Service robots CUDA motion planning robotics HPC parallel computing GPGPU nonlinear optimization
ISSN:	1045-9219, 1558-2183
Online Access:	Get full text
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