Very fast motion planning for dexterous robots

摘要

The authors show that paths for dexterous robots can be generated in a few seconds or less using parallel informed randomized search on multicomputers. The experimental results the authors present have been obtained for a simulated 7-jointed arm operating in realistic 3D workspaces. The authors also present a new method for predicting the solution times that their parallel formulation can deliver on increasing numbers of processors.