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Kavraki, Lydia E. Sucan, Ioan Alexandru 2018-12-03T18:31:54Z 2018-12-03T18:31:54Z 2008 Sucan, Ioan Alexandru. "Kinodynamic motion planning for high-dimensional physical systems." (2008) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/103619">https://hdl.handle.net/1911/103619</a>. https://hdl.handle.net/1911/103619 304511155 THESIS COMP. SCI. 2009 SUCAN This thesis presents a kinodynamic motion planner, Kinodynamic Motion Planning by Interior-Exterior Cell Exploration ( KPIECE ), specifically designed for systems with complex dynamics, where physics-based simulation is necessary. A multiple-level grid-based discretization is used to estimate the coverage of the state space. The coverage estimates help the planner detect the less explored areas of the state space. The planner also keeps track of the boundary of the explored region of the state space and focuses exploration on the less covered parts of this boundary. Extensive experiments show KPIECE provides computational gain over state-of-the-art methods and allows solving some harder, previously unsolvable problems. A shared memory parallel implementation is presented as well. This implementation provides better speedup than an embarrassingly parallel implementation by taking advantage of the evolving multi-core technology. 65 pp eng Copyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder. Computer science Applied sciences Kinodynamic motion planning for high-dimensional physical systems Thesis Text Computer Science Engineering Rice University Masters Master of Science open.access