We show how paths for articulated robots with many degrees of freedom can be generated in a few seconds or less using nonsystematic parallel search. We present experimental results obtained on a multicomputer for an accurate model of a 7-jointed manipulator arm operating in realistic 3D workspaces. We then present and discuss a fast method for smoothing the paths delivered by the parallel algorithm.
['Daniel J. Challou', 'Daniel Boley', 'Maria L. Gini', 'Vipin Kumar']
A parallel formulation of informed randomized search for robot motion planning problems