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Parallel state-space search for a first solution with consistent linear speedups
Consider the problem of exploring a large state-space for a goal state where although many such states may exist in the state-space, finding any one state satisfying the requirements is sufficient. All the methods known until now for conducting such search in parallel using multiprocessors fail to provide consistent linear speedups over sequential execution. The speedups vary between sublinear to superlinear and from one execution to another. Further, adding more processors may sometimes lead to a slow-down rather than speedup, giving rise to speedup anomalies reported in literature. We present a prioritizing strategy which yields consistent speedups that are close to P with P processors, and that monotonically increase with the addition of processors. This is achieved by keeping the total number of nodes expanded during parallel search very close to that of a sequential search. In addition, the strategy requires substantially smaller memory relative to other methods. The performance of this strategy is demonstrated on a multiprocessor with several state-space search problems.KEY WORDS: Parallel algorithms; parallel depth-first search; first solution; state-space trees; linear speedup
Inflated speedups in parallel simulations via malloc()
Discrete-event simulation programs make heavy use of dynamic memory allocation in order to support simulation's very dynamic space requirements. When programming in C one is likely to use the malloc() routine. However, a parallel simulation which uses the standard Unix System V malloc() implementation may achieve an overly optimistic speedup, possibly superlinear. An alternate implementation provided on some (but not all systems) can avoid the speedup anomaly, but at the price of significantly reduced available free space. This is especially severe on most parallel architectures, which tend not to support virtual memory. It is shown how a simply implemented user-constructed interface to malloc() can both avoid artificially inflated speedups, and make efficient use of the dynamic memory space. The interface simply catches blocks on the basis of their size. The problem is demonstrated empirically, and the effectiveness of the solution is shown both empirically and analytically
Adaptive Parallel Iterative Deepening Search
Many of the artificial intelligence techniques developed to date rely on
heuristic search through large spaces. Unfortunately, the size of these spaces
and the corresponding computational effort reduce the applicability of
otherwise novel and effective algorithms. A number of parallel and distributed
approaches to search have considerably improved the performance of the search
process. Our goal is to develop an architecture that automatically selects
parallel search strategies for optimal performance on a variety of search
problems. In this paper we describe one such architecture realized in the
Eureka system, which combines the benefits of many different approaches to
parallel heuristic search. Through empirical and theoretical analyses we
observe that features of the problem space directly affect the choice of
optimal parallel search strategy. We then employ machine learning techniques to
select the optimal parallel search strategy for a given problem space. When a
new search task is input to the system, Eureka uses features describing the
search space and the chosen architecture to automatically select the
appropriate search strategy. Eureka has been tested on a MIMD parallel
processor, a distributed network of workstations, and a single workstation
using multithreading. Results generated from fifteen puzzle problems, robot arm
motion problems, artificial search spaces, and planning problems indicate that
Eureka outperforms any of the tested strategies used exclusively for all
problem instances and is able to greatly reduce the search time for these
applications
Parallel Searching for a First Solution
A parallel algorithm for conducting a search for a first solution to the problem of generating minimal perfect hash functions is presented. A message-based distributed memory computer is assumed as a model for parallel computations. A data structure, called reverse trie (r-trie), was devised to carry out the search. The algorithm was implemented on a transputer network. The experiments showed that the algorithm exhibits a consistent and almost linear speed-up. The r-trie structure proved to be highly memory efficient
Nagging: A scalable, fault-tolerant, paradigm for distributed search
This paper describes Nagging, a technique for parallelizing search in a heterogeneous distributed computing environment. Nagging exploits the speedup anomaly often observed when parallelizing problems by playing multiple reformulations of the problem or portions of the problem against each other. Nagging is both fault tolerant and robust to long message latencies. In this paper, we show how nagging can be used to parallelize several different algorithms drawn from the artificial intelligence literature, and describe how nagging can be combined with partitioning, the more traditional search parallelization strategy. We present a theoretical analysis of the advantage of nagging with respect to partitioning, and give empirical results obtained on a cluster of 64 processors that demonstrate nagging\u27s effectiveness and scalability as applied to A* search, minimax game tree search, and the Davis-Putnam algorithm
Real-Time Hand Shape Classification
The problem of hand shape classification is challenging since a hand is
characterized by a large number of degrees of freedom. Numerous shape
descriptors have been proposed and applied over the years to estimate and
classify hand poses in reasonable time. In this paper we discuss our parallel
framework for real-time hand shape classification applicable in real-time
applications. We show how the number of gallery images influences the
classification accuracy and execution time of the parallel algorithm. We
present the speedup and efficiency analyses that prove the efficacy of the
parallel implementation. Noteworthy, different methods can be used at each step
of our parallel framework. Here, we combine the shape contexts with the
appearance-based techniques to enhance the robustness of the algorithm and to
increase the classification score. An extensive experimental study proves the
superiority of the proposed approach over existing state-of-the-art methods.Comment: 11 page
Boosting Multi-Core Reachability Performance with Shared Hash Tables
This paper focuses on data structures for multi-core reachability, which is a
key component in model checking algorithms and other verification methods. A
cornerstone of an efficient solution is the storage of visited states. In
related work, static partitioning of the state space was combined with
thread-local storage and resulted in reasonable speedups, but left open whether
improvements are possible. In this paper, we present a scaling solution for
shared state storage which is based on a lockless hash table implementation.
The solution is specifically designed for the cache architecture of modern
CPUs. Because model checking algorithms impose loose requirements on the hash
table operations, their design can be streamlined substantially compared to
related work on lockless hash tables. Still, an implementation of the hash
table presented here has dozens of sensitive performance parameters (bucket
size, cache line size, data layout, probing sequence, etc.). We analyzed their
impact and compared the resulting speedups with related tools. Our
implementation outperforms two state-of-the-art multi-core model checkers (SPIN
and DiVinE) by a substantial margin, while placing fewer constraints on the
load balancing and search algorithms.Comment: preliminary repor
Scaling Robot Motion Planning to Multi-core Processors and the Cloud
Imagine a world in which robots safely interoperate with humans, gracefully and efficiently accomplishing everyday tasks. The robot's motions for these tasks, constrained by the design of the robot and task at hand, must avoid collisions with obstacles. Unfortunately, planning a constrained obstacle-free motion for a robot is computationally complex---often resulting in slow computation of inefficient motions. The methods in this dissertation speed up this motion plan computation with new algorithms and data structures that leverage readily available parallel processing, whether that processing power is on the robot or in the cloud, enabling robots to operate safer, more gracefully, and with improved efficiency. The contributions of this dissertation that enable faster motion planning are novel parallel lock-free algorithms, fast and concurrent nearest neighbor searching data structures, cache-aware operation, and split robot-cloud computation. Parallel lock-free algorithms avoid contention over shared data structures, resulting in empirical speedup proportional to the number of CPU cores working on the problem. Fast nearest neighbor data structures speed up searching in SO(3) and SE(3) metric spaces, which are needed for rigid body motion planning. Concurrent nearest neighbor data structures improve searching performance on metric spaces common to robot motion planning problems, while providing asymptotic wait-free concurrent operation. Cache-aware operation avoids long memory access times, allowing the algorithm to exhibit superlinear speedup. Split robot-cloud computation enables robots with low-power CPUs to react to changing environments by having the robot compute reactive paths in real-time from a set of motion plan options generated in a computationally intensive cloud-based algorithm. We demonstrate the scalability and effectiveness of our contributions in solving motion planning problems both in simulation and on physical robots of varying design and complexity. Problems include finding a solution to a complex motion planning problem, pre-computing motion plans that converge towards the optimal, and reactive interaction with dynamic environments. Robots include 2D holonomic robots, 3D rigid-body robots, a self-driving 1/10 scale car, articulated robot arms with and without mobile bases, and a small humanoid robot.Doctor of Philosoph
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