PA*SE: Parallel A* for Slow Expansions

  title={PA*SE: Parallel A* for Slow Expansions},
  author={Mike Phillips and Maxim Likhachev and Sven Koenig},
Planners need to become faster as we seek to tackle increasingly complicated problems. Much of the recent improvements in computer speed is due to multi-core processors. For planners to take advantage of these types of architectures, we must adapt algorithms for parallel processing. There are a number of planning domains where state expansions are slow. One example is robot motion planning, where most of the time is devoted to collision checking. In this work, we present PA*SE, a novel… CONTINUE READING