Projects per year
Abstract / Description of output
We consider the problem of assigning software processes(or tasks) to hardware processors in distributed robotics environments. We introduce the notion of a task variant, which supports the adaptation of software to specific hardware configurations.Task variants facilitate the trade-off of functional quality versus the requisite capacity and type of target execution processors.We formalise the problem of assigning task variants to processors as a mathematical model that incorporates typical constraints found in robotics applications; the model is a constrained form of a multi-objective, multi-dimensional, multiple-choice knapsack problem. We propose and evaluate three different solution methods to the problem: constraint programming, a constructive greedy heuristic and a local search metaheuristic. Furthermore, we demonstrate the use of task variants in a real instance of a distributed interactive multi-agent navigation system,showing that our best solution method (constraint programming)improves the system’s quality of service, as compared to the local search metaheuristic, the greedy heuristic and a randomised solution, by an average of 16%, 41% and 56% respectively.
Original language | English |
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Title of host publication | Proceedings of Robotics: Science and Systems XII 2016 |
Place of Publication | Ann Arbor, USA |
Number of pages | 9 |
DOIs | |
Publication status | Published - 22 Jun 2016 |
Event | Robotics: Science and Systems XII 2016 - Ann Arbor, United States Duration: 18 Jun 2016 → 22 Jun 2016 http://rss2016.engin.umich.edu/ |
Conference
Conference | Robotics: Science and Systems XII 2016 |
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Country/Territory | United States |
City | Ann Arbor |
Period | 18/06/16 → 22/06/16 |
Internet address |
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- 1 Finished
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AnyScale Applications
Nagarajan, V., O'Boyle, M. & Vijayakumar, S.
1/10/13 → 31/03/18
Project: Research