Cluster on Wheels

Autor: Yang, Yuanyuan, Feng, Delin, Schwertfeger, Sören
Rok vydání: 2022
Předmět:
Zdroj: 2022 International Conference for Advancement in Technology (ICONAT), 2022, pp. 1-8
Druh dokumentu: Working Paper
DOI: 10.1109/ICONAT53423.2022.9725992
Popis: This paper presents a very compact 16-node cluster that is the core of a future robot for collecting and storing massive amounts of sensor data for research on Simultaneous Localization and Mapping (SLAM). To the best of our knowledge, this is the first time that such a cluster is used in robotics. We first present the requirements and different options for computing of such a robot and then show the hardware and software of our solution in detail. The cluster consists of 16 nodes of AMD Ryzen 7 5700U CPUs with a total of 128 cores. As a system that is to be used on a Clearpath Husky robot, it is very small in size, can be operated from battery power and has all required power and networking components integrated. Stress tests on the completed cluster show that it performs well.
Comment: 8 pages, 7 figures, 2022 International Conference for Advancement in Technology(ICONAT). It is about the work of the mapping robot cluster computer platform
Databáze: arXiv