Resource-performance trade-off analysis for mobile robots
| Autor: | Akshay A. Morye, Marta Kwiatkowska, Dushyant Rao, Morteza Lahijanian, Paul Newman, Brian Yeomans, Maria Svorenova, Ingmar Posner, Hadas Kress-Gazit |
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| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Schedule Robot kinematics Control and Optimization business.industry Computer science Mechanical Engineering Distributed computing Biomedical Engineering Mobile robot 02 engineering and technology Multi-objective optimization Computer Science Applications Human-Computer Interaction 020901 industrial engineering & automation Resource (project management) Artificial Intelligence Control and Systems Engineering 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Computer Vision and Pattern Recognition Mobile telephony business Energy (signal processing) |
| Zdroj: | IEEE Robotics and Automation Letters. 3(3) |
| ISSN: | 2377-3766 |
| Popis: | The design of mobile autonomous robots is challenging due to the limited on-board resources such as processing power and energy. A promising approach is to generate intelligent schedules that reduce the resource consumption while maintaining best performance, or more interestingly, to trade off reduced resource consumption for a slightly lower but still acceptable level of performance. In this paper, we provide a framework that is automatic and quantitative to aid designers in exploring such resource-performance trade-offs and finding schedules for mobile robots, guided by questions such as "what is the minimum resource budget required to achieve a given level of performance?" The framework is based on a quantitative multi-objective verification technique which, for a collection of possibly conflicting objectives, produces the Pareto front that contains all the optimal trade-offs that are achievable. The designer then selects a specific Pareto point based on the resource constraints and desired performance level, and a correct-by-construction schedule that meets those constraints is automatically generated. We demonstrate the efficacy of this framework on several robotic scenarios in both simulations and experiments with encouraging results. |
| Databáze: | OpenAIRE |
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