TY - GEN
T1 - Parallel object motion prediction in a robotic navigational environment
AU - Rajpurohit, Vijay S.
AU - Manohara Pai, M. M.
PY - 2009/11/4
Y1 - 2009/11/4
N2 - In a dynamic Robot navigation system , the Robot has to deal with multiple number of moving objects in the environment simultaneously. The control loop of Robot motion planning comprising of sense-plan-act cycle has very short duration . Predicting the next instance position (Short Term Prediction) and the trajectory (Long Term Prediction) of moving objects in a dynamic navigation system is a part of sense-plan-act cycle. With increase in the number of moving objects under observation, the performance of the prediction techniques reduce gradually. To overcome this drawback, in this paper we propose a parallel motion prediction algorithm to keep track of multiple number of moving objects within the Robotic navigational environment. The implementation of parallel algorithm is done on a cluster computing setup. Performance of the algorithm is tested for different test case scenarios with detailed analysis on efficiency and speedup.
AB - In a dynamic Robot navigation system , the Robot has to deal with multiple number of moving objects in the environment simultaneously. The control loop of Robot motion planning comprising of sense-plan-act cycle has very short duration . Predicting the next instance position (Short Term Prediction) and the trajectory (Long Term Prediction) of moving objects in a dynamic navigation system is a part of sense-plan-act cycle. With increase in the number of moving objects under observation, the performance of the prediction techniques reduce gradually. To overcome this drawback, in this paper we propose a parallel motion prediction algorithm to keep track of multiple number of moving objects within the Robotic navigational environment. The implementation of parallel algorithm is done on a cluster computing setup. Performance of the algorithm is tested for different test case scenarios with detailed analysis on efficiency and speedup.
UR - https://www.scopus.com/pages/publications/70350516163
UR - https://www.scopus.com/inward/citedby.url?scp=70350516163&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-03275-2_43
DO - 10.1007/978-3-642-03275-2_43
M3 - Conference contribution
AN - SCOPUS:70350516163
SN - 3642032745
SN - 9783642032745
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 435
EP - 444
BT - Parallel Computing Technologies - 10th International Conference, PaCT 2009, Proceedings
T2 - 10th International Conference on Parallel Computing Technologies, PaCT 2009
Y2 - 31 August 2009 through 4 September 2009
ER -