@inproceedings{06154e9839774e24841809f68989b311,
title = "The anatomy of a distributed motion planning roadmap",
abstract = "In this paper, we evaluate and compare the quality and structure of roadmaps constructed from parallelizing sampling-based motion planning algorithms against that of roadmaps constructed using sequential planner. Also, we make an argument and provide experimental results that show that motion planning problems involving heterogenous environments (common in most realistic and large-scale motion planning) is a natural fit for spatial subdivision-based parallel processing. Spatial subdivision-based parallel processing approach is suited for heterogeneous environments because it allows for local adaption in solving a global problem while taking advantage of scalability that is possible with parallel processing.",
author = "Jacobs, {Sam Ade} and Amato, {Nancy M.}",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 ; Conference date: 14-09-2014 Through 18-09-2014",
year = "2014",
month = oct,
day = "31",
doi = "10.1109/IROS.2014.6942979",
language = "English (US)",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3019--3026",
booktitle = "IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems",
address = "United States",
}