{"id":22421913,"url":"https://github.com/auralius/parallel-value-iteration","last_synced_at":"2026-02-19T17:01:30.604Z","repository":{"id":172149888,"uuid":"648914655","full_name":"auralius/parallel-value-iteration","owner":"auralius","description":"Finding a shortest path on a binary occupancy map","archived":false,"fork":false,"pushed_at":"2025-03-15T02:10:00.000Z","size":649,"stargazers_count":2,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-07-08T19:54:52.925Z","etag":null,"topics":["dynamic-programming","mpi4py","numba","occupancy-grid-map","openmp","parallel-programming","shortest-path-algorithm","value-iteration"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/auralius.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2023-06-03T07:23:43.000Z","updated_at":"2025-05-28T13:22:43.000Z","dependencies_parsed_at":null,"dependency_job_id":"82eee927-8f1a-419c-a161-4d60521136bb","html_url":"https://github.com/auralius/parallel-value-iteration","commit_stats":null,"previous_names":["auralius/binary_terrain_value_iteration","auralius/parallel-value-iteration"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/auralius/parallel-value-iteration","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/auralius%2Fparallel-value-iteration","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/auralius%2Fparallel-value-iteration/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/auralius%2Fparallel-value-iteration/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/auralius%2Fparallel-value-iteration/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/auralius","download_url":"https://codeload.github.com/auralius/parallel-value-iteration/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/auralius%2Fparallel-value-iteration/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":29623546,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-02-19T13:04:20.082Z","status":"ssl_error","status_checked_at":"2026-02-19T13:03:33.775Z","response_time":117,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.6:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["dynamic-programming","mpi4py","numba","occupancy-grid-map","openmp","parallel-programming","shortest-path-algorithm","value-iteration"],"created_at":"2024-12-05T17:10:01.180Z","updated_at":"2026-02-19T17:01:30.600Z","avatar_url":"https://github.com/auralius.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Parallel value iteration\n\nThe problem here is similar to:\n\nhttps://www.mathworks.com/matlabcentral/fileexchange/39034-finding-an-optimal-path-on-the-terrain\n\nHowever, instead of having a terrain map where the costs correspond to the terrain heights, we now have a binary map where the cost value describes the obstacle existence. \n\n**The main objective here is to parallelize the value iteration algorithm by using different frameworks/methods.**\n\nImplemented frameworks so far:\n\n- Vanilla: no parallelization\n- Vectorized: state-and-input flattening to eliminate nested-for, this process only relies on NumPy \n- Cython: nested parallel-for with OpenMP and Cython\n- Numba: nested parallel-for with Numba\n- Python multiprocessing: multiprocessing is applied to the outer-most loop, the remaining nested-loop is accelerated by using Numba\n- MPI: MPI is applied to the outer-most loop, the remaining nested-loop is accelerated by using Numba\n\n### For the Cython version:\n\nTo compile the path_planner.pyx file: \n\n```\npython setup.py build_ext --inplace\n```\n\nFor Windows, open `setup.py` and simply replace `-fopenmp` with `/openmp`.\n\n### For the MPI version:\n\nRun the demo file by using the `mpiexec` command, for example:\n\n```\nmpiexec -n 2 python ./5_mpi4py/demo1.py\n```\n\nwhere ``-n 2`` represents the number of CPU cores.\n\n\n### Map files\n\n* Fundamental path-fiding-on-map problem can be found here: https://github.com/auralius/parallel-value-iteration/tree/main/0_fundamental\n\n![](https://github.com/auralius/parallel-value-iteration/blob/main/0_fundamental/result.png)\n\n\n* The binary occupacy maps are the PNG files located in `maps/` directory. Maps file are taken from https://imr.ciirc.cvut.cz/planning/maps.xml.\n \n\n![](https://github.com/auralius/binary_terrain_value_iteration/blob/paper/result1.png?raw=true)\n\n![](https://github.com/auralius/binary_terrain_value_iteration/blob/paper/result2.png?raw=true)\n\n![](https://github.com/auralius/binary_terrain_value_iteration/blob/paper/result3.png?raw=true)\n\n\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fauralius%2Fparallel-value-iteration","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fauralius%2Fparallel-value-iteration","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fauralius%2Fparallel-value-iteration/lists"}