In this paper we consider the problem of identifying intersections between two sets of d-dimensional axis-parallel rectangles. This is a common operation that arises in many agent-based simulation studies, and is of central importance in the context of High Level Architecture (HLA), where it is at the core of the Data Distribution Management (DDM) service. Several realizations of the DDM service have been proposed; however, many of them are either inefficient or inherently sequential. We propose a parallel version of the Sort-Based Matching algorithm for shared-memory multiprocessors. Sort-Based Matching is one of the most efficient serial algorithms for the DDM problem, but is quite difficult to parallelize because of data dependencies. We describe the algorithm and compute its asymptotic running time; we complete the analysis by assessing its performance and scalability through extensive experiments on two commodity multicore systems based on a dual socket Intel Xeon processor, and a single socket Intel Core i7 processor.
@cite_14 , a parallel ordered-relation-based matching algorithm is proposed. The algorithm is composed of five phases: projection, sorting, task decomposition, internal matching and external matching. In the experimental evaluation, a MATLAB implementation is compared with the sequential SBM . The results show that, with a high number of extents the proposed algorithm is faster than SBM .
@cite_14
2066306418 1556166295 2564754945 2494937121
Abstract A parallel algorithm for the stable matching problem is presented. The algorithm is based on the primal-dual interior path-following method for linear programming. The main result is that a stable matching can be found in O ∗ ( m ) time by a polynomial number of processors, where m is the total length of preference lists of individuals. This paper presents efficient dataflow schemes for parallel string matching. Two subproblems known as the exact matching and the k-mismatches problems are covered. Three parallel algorithms based on multiple input (and output) streams are presented. Time complexities of these parallel algorithms are O((n d)+ spl alpha ), O spl les spl alpha spl les m, where n and m represent lengths of reference and pattern strings (n spl Gt m) and d represents the number of streams used (the degree of parallelism). We can control the degree of parallelism by using variable number (d) of input (and output) streams. These performances are better than those found in the literature. These algorithms present three different methods to design special purpose systolic array hardware for string matching. With linear systolic array architecture, m PEs are needed for serial design and d*m PEs are needed for parallel design. In this work, we address the problem of robust data association for feature cloud matching. For matching two feature clouds observed at two different poses, we discover that the covariance matrix of the measurement prediction error can be written as the sum of a low rank matrix and a block diagonal matrix, if we assume that the features are observed independently at each pose. This special structure of the covariance matrix allows us to compute its inverse analytically and efficiently. Together with a good bookkeeping strategy, the complexity of the Joint Compatibility (JC) test is reduced to O(1). Contrary to the approximated JC test, ours is both exact and fast. Based on the efficient JC test algorithm and a branch and bound search procedure, we devise an algorithm, called Fast Joint Compatibility Branch and Bound (FastJCBB), to quickly obtain robust data association. The FastJCBB algorithm is essentially modified from the conventional Joint Compatibility Branch and Bound (JCBB) algorithm and both of these algorithms are able to produce exactly the same data association results. However, with the substantial improvement in the efficiency of JC tests, our FastJCBB algorithm is much faster than the conventional JCBB, especially when matching two large feature clouds. It is reported that our FastJCBB algorithm is more than 740 times faster than the conventional JCBB in carrying out one million JC tests when matching two clouds with about 100 features each. Since both FastJCBB and JCBB share the same branch and bound procedure in exploring the interpretation tree, the search complexity remains exponential. Our main contribution is the significant improvement in the efficiency of exploring each node of the interpretation tree. In this paper we present the PUMP (Parallel Uncertainty-aware Multiobjective Planning) algorithm for addressing the stochastic kinodynamic motion planning problem, whereby one seeks a low-cost, dynamically-feasible motion plan subject to a constraint on collision probability (CP). To ensure exhaustive evaluation of candidate motion plans (as needed to tradeoff the competing objectives of performance and safety), PUMP incrementally builds the Pareto front of the problem, accounting for the optimization objective and an approximation of CP. This is performed by a massively parallel multiobjective search, here implemented with a focus on GPUs. Upon termination of the exploration phase, PUMP searches the Pareto set of motion plans to identify the lowest cost solution that is certified to satisfy the CP constraint (according to an asymptotically exact estimator). We introduce a novel particle-based CP approximation scheme, designed for efficient GPU implementation, which accounts for dependencies over the history of a trajectory execution. We present numerical experiments for quadrotor planning wherein PUMP identifies solutions in 100 ms, evaluating over one hundred thousand partial plans through the course of its exploration phase. The results show that this multiobjective search achieves a lower motion plan cost, for the same CP constraint, compared to a safety buffer-based search heuristic and repeated RRT trials.