RoboRun: A Robot Runtime to Exploit Spatial Heterogeneity
TimeThursday, December 9th1:50pm - 2:10pm PST
DescriptionThe limited onboard energy of autonomous mobile robots demands efficient computing solutions. A shortcoming of state-of-the-art solutions is that they ignore the robot's environment heterogeneity making static, worst-case assumptions. As this heterogeneity impacts the computing payload, an optimal system must dynamically capture it and adjust computational resources accordingly. This paper introduces RoboRun, a runtime that dynamically exploits the compute-environment synergy improving performance/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 showing 4.5X, 4X improvements in mission time/energy respectively, and a 36\% reduction in CPU utilization.