Parallel computation of configuration space on reconfigurable mesh with faults

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - 2000 International Workshops on Parallel Processing, ICPP 2000
EditorsP. Sadayappan
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages259-266
Number of pages8
Volume2000-January
ISBN (Electronic)0769507719
DOIs
StatePublished - 1 Jan 2000
EventInternational Workshops on Parallel Processing, ICPP 2000 - Toronto, Canada
Duration: 21 Aug 200024 Aug 2000

Other

OtherInternational Workshops on Parallel Processing, ICPP 2000
CountryCanada
CityToronto
Period21/08/0024/08/00

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    Jenq, J. J. F., & Wang, D. (2000). Parallel computation of configuration space on reconfigurable mesh with faults. In P. Sadayappan (Ed.), Proceedings - 2000 International Workshops on Parallel Processing, ICPP 2000 (Vol. 2000-January, pp. 259-266). [869111] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICPPW.2000.869111