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On the Robot Path Planning using Cloud Computing for Large Grid Maps

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dc.contributor.authorChaari, Imen
dc.contributor.authorKoubâa, Anis
dc.contributor.authorQureshi, Basit
dc.contributor.authorYoussef, Habib
dc.contributor.authorSeverino, Ricardo
dc.contributor.authorTovar, Eduardo
dc.date.accessioned2018-12-03T16:34:21Z
dc.date.embargo2119
dc.date.issued2018
dc.description.abstractGlobal path planning consists in finding the optimal path for a mobile robot with the lowest cost in the minimum amount of time, without colliding with the obstacles scattered in the workspace. In this paper, we investigate the benefits of offloading path planning algorithms to be executed in the cloud rather than in the robot. The contribution consists in developing a vertex-centric implementation of RA∗ [1], a version of A∗ that we developed for grid maps and that was proven to be much faster than A∗, using the distributed graph processing framework Giraph that rely on Hadoop. We also developed a centralized cloud-based C++ implementation of the algorithm for benchmarking and comparison purposes. Experimental results on a real cloud shows that the distributed graph processing Giraph fails to provide faster execution as compared to centralized C++ implementation for different map sizes and configuration due to non-real time properties of Hadoop.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.doi10.1109/ICARSC.2018.8374187pt_PT
dc.identifier.isbn978-1-5386-5221-3
dc.identifier.urihttp://hdl.handle.net/10400.22/12358
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherInstitute of Electrical and Electronics Engineerspt_PT
dc.relation.publisherversionhttps://ieeexplore.ieee.org/document/8374187pt_PT
dc.subjectAutonomous robotspt_PT
dc.subjectCloud computingpt_PT
dc.subjectC++ languagept_PT
dc.subjectGraph theorypt_PT
dc.titleOn the Robot Path Planning using Cloud Computing for Large Grid Mapspt_PT
dc.typeconference object
dspace.entity.typePublication
oaire.citation.conferencePlaceTorres Vedras, Portugalpt_PT
oaire.citation.endPage250pt_PT
oaire.citation.startPage225pt_PT
oaire.citation.title2018 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Proceedingspt_PT
person.familyNameSeverino
person.familyNameTovar
person.givenNameRicardo
person.givenNameEduardo
person.identifier1052876
person.identifier.ciencia-idD718-13F6-42E0
person.identifier.ciencia-id6017-8881-11E8
person.identifier.orcid0000-0002-4215-3238
person.identifier.orcid0000-0001-8979-3876
person.identifier.scopus-author-id24475700500
person.identifier.scopus-author-id7006312557
rcaap.rightsclosedAccesspt_PT
rcaap.typeconferenceObjectpt_PT
relation.isAuthorOfPublicationc255a195-621c-48ba-8bf4-b0a5ecee8d86
relation.isAuthorOfPublication80b63d8a-2e6d-484e-af3c-55849d0cb65e
relation.isAuthorOfPublication.latestForDiscovery80b63d8a-2e6d-484e-af3c-55849d0cb65e

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