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DTSTAMP:20211208T164413Z
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DTSTART;TZID=America/Los_Angeles:20211209T135000
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UID:dac_DAC 2021_sess102_RESEARCH967@linklings.com
SUMMARY:RoboRun: A Robot Runtime to Exploit Spatial Heterogeneity
DESCRIPTION:Research Manuscript\n\nRoboRun: A Robot Runtime to Exploit Spa
 tial Heterogeneity\n\nBoroujerdian\n\nThe limited onboard energy of autono
 mous mobile robots demands efficient computing solutions. A shortcoming of
  state-of-the-art solutions is that they ignore the robot's environment he
 terogeneity making static, worst-case assumptions. As this heterogeneity i
 mpacts the computing payload, an optimal system must dynamically capture i
 t and adjust computational resources accordingly. This paper introduces Ro
 boRun, 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 aga
 inst a state-of-the-art static design showing 4.5X, 4X improvements in mis
 sion time/energy respectively, and a 36\% reduction in CPU utilization.\n\
 nTopic: Autonomous Systems\n\nVirtual Program: Presented In-Person
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