Computing 2D Robot Workspace in Parallel with CUDA

  • Paul Kilgo
  • Brandon Dixon
  • Monica Anderson
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7628)


Workspace analysis is one of the most essential problems in robotics, but also has the possibility of being very tricky in complex cases. As the number of degrees of freedom increases, the complexity of the problem grows exponentially in some solutions. One possibility is to develop solutions which approximate the workspace for speedup, but this paper explores the possibility of using graphical processing units to parallelize and speed up a forward kinematics-based solution. Particular real-time applications are discussed. It presents a formal analysis of a simple 2D problem, a solution, and the results of an experiment using the solution.


Graphical Processing Unit Shared Memory Collision Detection Kinematic Chain Parallel Solution 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Paul Kilgo
    • 1
  • Brandon Dixon
    • 1
  • Monica Anderson
    • 1
  1. 1.Department of Computer ScienceThe University of AlabamaTuscaloosaUSA

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