文档介绍：Nearest Neighbor Migration in Parallel ic Programming for
Automatic Robot Programming
Shisanu Tongchim Prabhas Chongstitvatana
Department puter Engineering Department puter Engineering
Chulalongkorn University Chulalongkorn University
Bangkok 10330, Thailand Bangkok 10330, Thailand
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Abstract was limited when using a large number of processors.
This work presents a study of parallelization of ge- The source of this limitation was the problem in the
netic programming for automatically creating a munication function that we used.
control program in a mobile robot navigation problem. In this present study, we extend the previous work
A nearest neighbor migration topology is proposed to in an attempt to improve the reduction of the execu-
reduce munication time. This pares tion time. By changing munication topology
the performance both in terms of the solution quality to a loosely connected topology, the ring topology, the
and the gain in execution time. The timing analysis munication is limited to occur between the neigh-
investigated to give insight into the behavior of paral- boring nodes. This helps to reduce munica-
lel implementations. The results show that the parallel tion overhead and improve the parallel performance.
algorithm with asynchronous migration using 10 pro- In addition, the behavior of the par