6533b82ffe1ef96bd1294f0d

RESEARCH PRODUCT

Parallel Collision Queries on the GPU

Elmar SchömerNicola WolpertRainer ErbesAnja Mantel

subject

Theoretical computer scienceShared memoryComputer scienceParallel algorithmCollision detectionParallel computingMotion planningLoad balancing (computing)CollisionRigid bodyImplementation

description

We present parallel algorithms to accelerate collision tests of rigid body objects for a high number of independent transformations as they occur in sampling-based motion planning and path validation problems. We compare various GPU approaches with a different level of parallelism against each other and against a parallel CPU implementation. Our algorithms require no sophisticated load balancing schemes. They make no assumption on the distribution of the input transformations and require no pre-processing. Yet, we can perform up to 1 million collision tests per second with our best GPU implementation in our benchmarks. This is about 2.5X faster than our reference multi-core CPU implementation and more than 18X faster than current single-core implementations.

yearjournalcountryeditionlanguage
2013-01-01
https://doi.org/10.1007/978-3-642-35893-7_8