Parallel object motion prediction in a robotic navigational environment

Vijay S. Rajpurohit, M. M. Manohara Pai

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

Abstract

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.

Original languageEnglish
Title of host publicationParallel Computing Technologies - 10th International Conference, PaCT 2009, Proceedings
Pages435-444
Number of pages10
DOIs
Publication statusPublished - 04-11-2009
Event10th International Conference on Parallel Computing Technologies, PaCT 2009 - Novosibirsk, Russian Federation
Duration: 31-08-200904-09-2009

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5698 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference10th International Conference on Parallel Computing Technologies, PaCT 2009
CountryRussian Federation
CityNovosibirsk
Period31-08-0904-09-09

Fingerprint

Moving Objects
Robotics
Motion
Prediction
Navigation System
Robots
Navigation systems
Robot
Cluster computing
Cycle
Cluster Computing
Robot Navigation
Motion Planning
Term
Motion planning
Parallel algorithms
Parallel Algorithms
Dynamic Systems
Speedup
Trajectories

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Rajpurohit, V. S., & Manohara Pai, M. M. (2009). Parallel object motion prediction in a robotic navigational environment. In Parallel Computing Technologies - 10th International Conference, PaCT 2009, Proceedings (pp. 435-444). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5698 LNCS). https://doi.org/10.1007/978-3-642-03275-2_43
Rajpurohit, Vijay S. ; Manohara Pai, M. M. / Parallel object motion prediction in a robotic navigational environment. Parallel Computing Technologies - 10th International Conference, PaCT 2009, Proceedings. 2009. pp. 435-444 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
@inproceedings{4d53652695874ddb9c4037de37050eac,
title = "Parallel object motion prediction in a robotic navigational environment",
abstract = "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.",
author = "Rajpurohit, {Vijay S.} and {Manohara Pai}, {M. M.}",
year = "2009",
month = "11",
day = "4",
doi = "10.1007/978-3-642-03275-2_43",
language = "English",
isbn = "3642032745",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
pages = "435--444",
booktitle = "Parallel Computing Technologies - 10th International Conference, PaCT 2009, Proceedings",

}

Rajpurohit, VS & Manohara Pai, MM 2009, Parallel object motion prediction in a robotic navigational environment. in Parallel Computing Technologies - 10th International Conference, PaCT 2009, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 5698 LNCS, pp. 435-444, 10th International Conference on Parallel Computing Technologies, PaCT 2009, Novosibirsk, Russian Federation, 31-08-09. https://doi.org/10.1007/978-3-642-03275-2_43

Parallel object motion prediction in a robotic navigational environment. / Rajpurohit, Vijay S.; Manohara Pai, M. M.

Parallel Computing Technologies - 10th International Conference, PaCT 2009, Proceedings. 2009. p. 435-444 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5698 LNCS).

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

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 - http://www.scopus.com/inward/record.url?scp=70350516163&partnerID=8YFLogxK

UR - http://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

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

ER -

Rajpurohit VS, Manohara Pai MM. Parallel object motion prediction in a robotic navigational environment. In Parallel Computing Technologies - 10th International Conference, PaCT 2009, Proceedings. 2009. p. 435-444. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-642-03275-2_43