Parallel Quantum Rapidly-Exploring Random Trees

Lathrop, Paul; Boardman, Beth; Martínez, Sonia

doi:10.1109/ACCESS.2024.3383313

Title: Parallel Quantum Rapidly-Exploring Random Trees

Journal Article · Mon Jan 01 00:00:00 EST 2024 · IEEE Access

DOI:https://doi.org/10.1109/ACCESS.2024.3383313· OSTI ID:2331342

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Department of Mechanical and Aerospace Engineering, University of California at San Diego, San Diego, CA, USA
Los Alamos National Laboratory, Los Alamos, NM, USA

In this paper, we present the Parallel Quantum Rapidly-Exploring Random Tree (Pq-RRT) algorithm, a parallel version of the Quantum Rapidly-Exploring Random Trees (q-RRT) algorithm. Parallel Quantum RRT is a parallel quantum algorithm formulation of a sampling-based motion planner that uses Quantum Amplitude Amplification to search databases of reachable states for addition to a tree. In this work we investigate how parallel quantum devices can more efficiently search a database, as the quantum measurement process involves the collapse of the superposition to a base state, erasing probability information and therefore the ability to efficiently find multiple solutions. Pq-RRT uses a manager/parallel-quantum-workers formulation, inspired by traditional parallel motion planning, to perform simultaneous quantum searches of a feasible state database. We present symbolic runtime comparisons between parallel architectures, then results regarding likelihoods of multiple parallel units finding any and all solutions contained with a shared database, with and without reachability errors, allowing efficiency predictions to be made. We offer simulations in dense obstacle environments showing efficiency, density/heatmap, and speed comparisons for Pq-RRT against q-RRT, classical RRT, and classical parallel RRT. We then present Quantum Database Annealing, a database construction strategy that uses a temperature construct to define database creation over time for balancing exploration and exploitation.

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Research Organization:: Los Alamos National Laboratory (LANL), Los Alamos, NM (United States)

Sponsoring Organization:: USDOE National Nuclear Security Administration (NNSA)

Grant/Contract Number:: LA-UR-23-31988v3; 89233218CNA000001

OSTI ID:: 2331342

Alternate ID(s):: OSTI ID: 2335755

Report Number(s):: LA-UR-23-31988; 10485279

Journal Information:: IEEE Access, Journal Name: IEEE Access Vol. 12; ISSN 2169-3536

Publisher:: Institute of Electrical and Electronics EngineersCopyright Statement

Country of Publication:: United States

Language:: English

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