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

Parallel integer relation detection: techniques and applications

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Optimistic Parallelization of Floating-Point Accumulation

Floating-point arithmetic is notoriously non-associative due to the limited precision representation which demands intermediate values be rounded to fit in the available precision. The resulting cyclic dependency in floating-point accumulation inhibits parallelization of the computation, including efficient use of pipelining. In practice, however, we observe that floating-point operations are "mostly" associative. This observation can be exploited to parallelize floating-point accumulation using a form of optimistic concurrency. In this scheme, we first compute an optimistic associative approximation to the sum and then relax the computation by iteratively propagating errors until the correct sum is obtained. We map this computation to a network of 16 statically-scheduled, pipelined, double-precision floating-point adders on the Virtex-4 LX160 (-12) device where each floating-point adder runs at 296 MHz and has a pipeline depth of 10. On this 16 PE design, we demonstrate an average speedup of 6× with randomly generated data and 3-7× with summations extracted from Conjugate Gradient benchmarks