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Computer Science > Robotics

arXiv:2108.13354 (cs)
[Submitted on 30 Aug 2021]

Title:RoboRun: A Robot Runtime to Exploit Spatial Heterogeneity

Authors:Behzad Boroujerdian, Radhika Ghosal, Jonathan Cruz, Brian Plancher, Vijay Janapa Reddi
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Abstract:The limited onboard energy of autonomous mobile robots poses a tremendous challenge for practical deployment. Hence, efficient computing solutions are imperative. A crucial shortcoming of state-of-the-art computing solutions is that they ignore the robot's operating environment heterogeneity and make static, worst-case assumptions. As this heterogeneity impacts the system's computing payload, an optimal system must dynamically capture these changes in the environment and adjust its computational resources accordingly. This paper introduces RoboRun, a mobile-robot runtime that dynamically exploits the compute-environment synergy to improve performance and energy. We implement RoboRun in the Robot Operating System (ROS) and evaluate it on autonomous drones. We compare RoboRun against a state-of-the-art static design and show 4.5X and 4X improvements in mission time and energy, respectively, as well as a 36% reduction in CPU utilization.
Comments: will be published in Design Automation Conference (DAC) 2021
Subjects: Robotics (cs.RO)
Cite as: arXiv:2108.13354 [cs.RO]
  (or arXiv:2108.13354v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2108.13354

Submission history

From: Behzad Boroujerdian [view email]
[v1] Mon, 30 Aug 2021 16:27:04 UTC (29,057 KB)
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