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dc.contributor.advisor Kavraki, Lydia E.
dc.creatorSucan, Ioan Alexandru
dc.date.accessioned 2018-12-03T18:31:54Z
dc.date.available 2018-12-03T18:31:54Z
dc.date.issued 2008
dc.identifier.urihttps://hdl.handle.net/1911/103619
dc.description.abstract This thesis presents a kinodynamic motion planner, Kinodynamic Motion Planning by Interior-Exterior Cell Exploration ( KPIECE ), specifically designed for systems with complex dynamics, where physics-based simulation is necessary. A multiple-level grid-based discretization is used to estimate the coverage of the state space. The coverage estimates help the planner detect the less explored areas of the state space. The planner also keeps track of the boundary of the explored region of the state space and focuses exploration on the less covered parts of this boundary. Extensive experiments show KPIECE provides computational gain over state-of-the-art methods and allows solving some harder, previously unsolvable problems. A shared memory parallel implementation is presented as well. This implementation provides better speedup than an embarrassingly parallel implementation by taking advantage of the evolving multi-core technology.
dc.format.extent 65 pp
dc.language.iso eng
dc.subjectComputer science
Applied sciences
dc.title Kinodynamic motion planning for high-dimensional physical systems
dc.identifier.digital 304511155
dc.type.genre Thesis
dc.type.material Text
thesis.degree.department Computer Science
thesis.degree.discipline Engineering
thesis.degree.grantor Rice University
thesis.degree.level Masters
thesis.degree.name Master of Science
dc.identifier.callno THESIS COMP. SCI. 2009 SUCAN
dc.identifier.citation Sucan, Ioan Alexandru. "Kinodynamic motion planning for high-dimensional physical systems." (2008) Master’s Thesis, Rice University. https://hdl.handle.net/1911/103619.


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