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High-dimensional problems arising from complex robotic systems test the limits of current motion planners and require the development of efficient distributed motion planners that take full advantage of all the available resources. This paper shows how to effectively distribute the computation of the Sampling-based Roadmap of Trees (SRT) algorithm using a decentralized master-client scheme. The distributed SRT algorithm allows us to solve very highdimensional problems that cannot be efficientlydoi:10.1109/robot.2005.1570711 dblp:conf/icra/PlakuK05 fatcat:axh2ay4rkfespkuhnlbnhcbzoy