TY - GEN
T1 - Parallel computation of configuration space on reconfigurable mesh with faults
AU - Jenq, John Jing Fu
AU - Wang, Dajin
N1 - Publisher Copyright:
© 2000 IEEE.
PY - 2000
Y1 - 2000
N2 - The reconfigurable mesh (RMESH) can be used to compute robotic paths in presence of obstacles, in which the robot and obstacle images are represented and processed in mesh processors. For a non-point-like robot, we can compute the so-called configuration space to expand the obstacles, so that the robot can be reduced to a reference point to facilitate the robot's motion planning. In this paper, we present algorithms to compute configuration space in a reconfigurable mesh that contains sparsely distributed faulty processors. The robots of rectangular and circular shapes are treated. It will be seen that in terms of computing configuration space, reconfigurable mesh can tolerate faulty processors without much extra cost - the computation takes the optimal 0(1) time in both fault-free and faulty reconfigurable meshes.
AB - The reconfigurable mesh (RMESH) can be used to compute robotic paths in presence of obstacles, in which the robot and obstacle images are represented and processed in mesh processors. For a non-point-like robot, we can compute the so-called configuration space to expand the obstacles, so that the robot can be reduced to a reference point to facilitate the robot's motion planning. In this paper, we present algorithms to compute configuration space in a reconfigurable mesh that contains sparsely distributed faulty processors. The robots of rectangular and circular shapes are treated. It will be seen that in terms of computing configuration space, reconfigurable mesh can tolerate faulty processors without much extra cost - the computation takes the optimal 0(1) time in both fault-free and faulty reconfigurable meshes.
UR - http://www.scopus.com/inward/record.url?scp=79953203718&partnerID=8YFLogxK
U2 - 10.1109/ICPPW.2000.869111
DO - 10.1109/ICPPW.2000.869111
M3 - Conference contribution
AN - SCOPUS:79953203718
T3 - Proceedings of the International Conference on Parallel Processing Workshops
SP - 259
EP - 266
BT - Proceedings - 2000 International Workshops on Parallel Processing, ICPP 2000
A2 - Sadayappan, P.
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - International Workshops on Parallel Processing, ICPP 2000
Y2 - 21 August 2000 through 24 August 2000
ER -