{"id":"https://openalex.org/W2124543852","doi":"https://doi.org/10.1109/iros.2011.6095053","title":"Massively parallelizing the RRT and the RRT","display_name":"Massively parallelizing the RRT and the RRT","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2124543852","doi":"https://doi.org/10.1109/iros.2011.6095053","mag":"2124543852"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6095053","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095053","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://dspace.mit.edu/bitstream/1721.1/81448/1/Frazzoli_Massively%20parallelizing.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029131738","display_name":"Joshua Bialkowski","orcid":null},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua Bialkowski","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA","Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081073767","display_name":"Serta\u00e7 Karaman","orcid":"https://orcid.org/0000-0002-2225-7275"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sertac Karaman","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA","Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029069358","display_name":"Emilio Frazzoli","orcid":null},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emilio Frazzoli","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA","Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.2802,"has_fulltext":true,"cited_by_count":104,"citation_normalized_percentile":{"value":0.96103188,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3513","last_page":"3518"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9865999817848206,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8175824284553528},{"id":"https://openalex.org/keywords/cuda","display_name":"CUDA","score":0.7203073501586914},{"id":"https://openalex.org/keywords/massively-parallel","display_name":"Massively parallel","score":0.7034726738929749},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.6059818863868713},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.5916342735290527},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.5251381397247314},{"id":"https://openalex.org/keywords/general-purpose-computing-on-graphics-processing-units","display_name":"General-purpose computing on graphics processing units","score":0.5022623538970947},{"id":"https://openalex.org/keywords/graphics","display_name":"Graphics","score":0.497287780046463},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4666139483451843},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4633849561214447},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4207271933555603},{"id":"https://openalex.org/keywords/computational-science","display_name":"Computational science","score":0.36426350474357605},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.28093644976615906},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27548742294311523},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20968803763389587},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.18824848532676697}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8175824284553528},{"id":"https://openalex.org/C2778119891","wikidata":"https://www.wikidata.org/wiki/Q477690","display_name":"CUDA","level":2,"score":0.7203073501586914},{"id":"https://openalex.org/C190475519","wikidata":"https://www.wikidata.org/wiki/Q544384","display_name":"Massively parallel","level":2,"score":0.7034726738929749},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.6059818863868713},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.5916342735290527},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.5251381397247314},{"id":"https://openalex.org/C50630238","wikidata":"https://www.wikidata.org/wiki/Q971505","display_name":"General-purpose computing on graphics processing units","level":3,"score":0.5022623538970947},{"id":"https://openalex.org/C21442007","wikidata":"https://www.wikidata.org/wiki/Q1027879","display_name":"Graphics","level":2,"score":0.497287780046463},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4666139483451843},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4633849561214447},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4207271933555603},{"id":"https://openalex.org/C459310","wikidata":"https://www.wikidata.org/wiki/Q117801","display_name":"Computational science","level":1,"score":0.36426350474357605},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.28093644976615906},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27548742294311523},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20968803763389587},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.18824848532676697},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2011.6095053","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095053","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/81448","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/81448","pdf_url":"https://dspace.mit.edu/bitstream/1721.1/81448/1/Frazzoli_Massively%20parallelizing.pdf","source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/81448","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/81448","pdf_url":"https://dspace.mit.edu/bitstream/1721.1/81448/1/Frazzoli_Massively%20parallelizing.pdf","source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2124543852.pdf","grobid_xml":"https://content.openalex.org/works/W2124543852.grobid-xml"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W110311002","https://openalex.org/W1424654272","https://openalex.org/W1971086298","https://openalex.org/W2000359213","https://openalex.org/W2037907469","https://openalex.org/W2042106485","https://openalex.org/W2071134448","https://openalex.org/W2074429597","https://openalex.org/W2105248582","https://openalex.org/W2128990851","https://openalex.org/W2165216595","https://openalex.org/W2427881153","https://openalex.org/W2611243847","https://openalex.org/W6604465034","https://openalex.org/W6669290111"],"related_works":["https://openalex.org/W3179800311","https://openalex.org/W2755264124","https://openalex.org/W2552652122","https://openalex.org/W67367039","https://openalex.org/W2532424781","https://openalex.org/W2086643394","https://openalex.org/W2993324210","https://openalex.org/W2570612679","https://openalex.org/W2095778784","https://openalex.org/W2001516427"],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"the":[3,6,11,23,28,33,78,119,127],"growth":[4,26],"of":[5,16,70,96,110,131],"computational":[7,29],"power":[8,30],"available":[9,31],"in":[10,27,32,155],"Central":[12],"Processing":[13,35],"Units":[14,36],"(CPUs)":[15],"consumer":[17],"computers":[18],"has":[19,38],"tapered":[20],"significantly.":[21],"At":[22],"same":[24],"time,":[25],"Graphics":[34],"(GPUs)":[37],"remained":[39],"strong.":[40],"Algorithms":[41],"that":[42,107],"can":[43],"be":[44],"implemented":[45],"on":[46,117],"GPUs":[47],"today":[48],"are":[49],"not":[50],"only":[51],"limited":[52],"to":[53,144,148],"graphics":[54],"processing,":[55],"but":[56],"include":[57],"scientific":[58],"computation":[59],"and":[60,85,98],"beyond.":[61],"This":[62],"paper":[63],"is":[64,123],"concerned":[65],"with":[66],"massively":[67],"parallel":[68],"implementations":[69],"incremental":[71],"sampling-based":[72,132],"robot":[73],"motion":[74,133,153],"planning":[75,134,154],"algorithms,":[76],"namely":[77],"widely-used":[79],"Rapidly-exploring":[80],"Random":[81],"Tree":[82],"(RRT)":[83],"algorithm":[84,101],"its":[86],"asymptotically-optimal":[87],"counterpart":[88],"called":[89],"RRT*.":[90],"We":[91,115],"demonstrate":[92],"an":[93,111],"example":[94],"implementation":[95],"RRT":[97],"RRT*":[99],"motion-planning":[100],"for":[102,151],"a":[103],"high-dimensional":[104,156],"robotic":[105],"manipulator":[106],"takes":[108],"advantage":[109],"NVidia":[112],"CUDA-enabled":[113],"GPU.":[114],"focus":[116],"parallelizing":[118],"collision-checking":[120],"procedure,":[121],"which":[122],"generally":[124],"recognized":[125],"as":[126],"computationally":[128],"expensive":[129],"component":[130],"algorithms.":[135],"Our":[136],"experimental":[137],"results":[138],"indicate":[139],"significant":[140],"speedup":[141],"when":[142],"compared":[143],"CPU":[145],"implementations,":[146],"leading":[147],"practical":[149],"algorithms":[150],"optimal":[152],"configuration":[157],"spaces.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}