On the design and implementation of broadcast and global combine operations using the postal model

There are a number of models that were proposed in recent years for message passing parallel systems. Examples are the postal model and its generalization the LogP model. In the postal model a parameter λ is used to model the communication latency of the message-passing system. Each node during each round can send a fixed-size message and, simultaneously, receive a message of the same size. Furthermore, a message sent out during round r will incur a latency of hand will arrive at the receiving node at round r + λ - 1. Our goal in this paper is to bridge the gap between the theoretical modeling and the practical implementation. In particular, we investigate a number of practical issues related to the design and implementation of two collective communication operations, namely, the broadcast operation and the global combine operation. Those practical issues include, for example, 1) techniques for measurement of the value of λ on a given machine, 2) creating efficient broadcast algorithms that get the latency hand the number of nodes n as parameters and 3) creating efficient global combine algorithms for parallel machines with λ which is not an integer. We propose solutions that address those practical issues and present results of an experimental study of the new algorithms on the Intel Delta machine. Our main conclusion is that the postal model can help in performance prediction and tuning, for example, a properly tuned broadcast improves the known implementation by more than 20%

CCL: a portable and tunable collective communication library for scalable parallel computers

A collective communication library for parallel computers includes frequently used operations such as broadcast, reduce, scatter, gather, concatenate, synchronize, and shift. Such a library provides users with a convenient programming interface, efficient communication operations, and the advantage of portability. A library of this nature, the Collective Communication Library (CCL), intended for the line of scalable parallel computer products by IBM, has been designed. CCL is part of the parallel application programming interface of the recently announced IBM 9076 Scalable POWERparallel System 1 (SP1). In this paper, we examine several issues related to the functionality, correctness, and performance of a portable collective communication library while focusing on three novel aspects in the design and implementation of CCL: 1) the introduction of process groups, 2) the definition of semantics that ensures correctness, and 3) the design of new and tunable algorithms based on a realistic point-to-point communication model

A Multilevel Approach to Topology-Aware Collective Operations in Computational Grids

The efficient implementation of collective communiction operations has received much attention. Initial efforts produced "optimal" trees based on network communication models that assumed equal point-to-point latencies between any two processes. This assumption is violated in most practical settings, however, particularly in heterogeneous systems such as clusters of SMPs and wide-area "computational Grids," with the result that collective operations perform suboptimally. In response, more recent work has focused on creating topology-aware trees for collective operations that minimize communication across slower channels (e.g., a wide-area network). While these efforts have significant communication benefits, they all limit their view of the network to only two layers. We present a strategy based upon a multilayer view of the network. By creating multilevel topology-aware trees we take advantage of communication cost differences at every level in the network. We used this strategy to implement topology-aware versions of several MPI collective operations in MPICH-G2, the Globus Toolkit[tm]-enabled version of the popular MPICH implementation of the MPI standard. Using information about topology provided by MPICH-G2, we construct these multilevel topology-aware trees automatically during execution. We present results demonstrating the advantages of our multilevel approach by comparing it to the default (topology-unaware) implementation provided by MPICH and a topology-aware two-layer implementation.Comment: 16 pages, 8 figure

Parallelizing RRT on distributed-memory architectures

This paper addresses the problem of improving the performance of the Rapidly-exploring Random Tree (RRT) algorithm by parallelizing it. For scalability reasons we do so on a distributed-memory architecture, using the message-passing paradigm. We present three parallel versions of RRT along with the technicalities involved in their implementation. We also evaluate the algorithms and study how they behave on different motion planning problems

Optimal Collision/Conflict-free Distance-2 Coloring in Synchronous Broadcast/Receive Tree Networks

This article is on message-passing systems where communication is (a) synchronous and (b) based on the "broadcast/receive" pair of communication operations. "Synchronous" means that time is discrete and appears as a sequence of time slots (or rounds) such that each message is received in the very same round in which it is sent. "Broadcast/receive" means that during a round a process can either broadcast a message to its neighbors or receive a message from one of them. In such a communication model, no two neighbors of the same process, nor a process and any of its neighbors, must be allowed to broadcast during the same time slot (thereby preventing message collisions in the first case, and message conflicts in the second case). From a graph theory point of view, the allocation of slots to processes is know as the distance-2 coloring problem: a color must be associated with each process (defining the time slots in which it will be allowed to broadcast) in such a way that any two processes at distance at most 2 obtain different colors, while the total number of colors is "as small as possible". The paper presents a parallel message-passing distance-2 coloring algorithm suited to trees, whose roots are dynamically defined. This algorithm, which is itself collision-free and conflict-free, uses $\Delta + 1$ colors where $\Delta$ is the maximal degree of the graph (hence the algorithm is color-optimal). It does not require all processes to have different initial identities, and its time complexity is $O(d \Delta)$, where d is the depth of the tree. As far as we know, this is the first distributed distance-2 coloring algorithm designed for the broadcast/receive round-based communication model, which owns all the previous properties.Comment: 19 pages including one appendix. One Figur

Parallelizing RRT on large-scale distributed-memory architectures

This paper addresses the problem of parallelizing the Rapidly-exploring Random Tree (RRT) algorithm on large-scale distributed-memory architectures, using the Message Passing Interface. We compare three parallel versions of RRT based on classical parallelization schemes. We evaluate them on different motion planning problems and analyze the various factors influencing their performance