IoT Edge Server ROS Node Allocation Method for Multi-SLAM on Many-core

Masato Fukui, Yoichi Ishiwata, Takeshi Ohkawa, Midori Sugaya

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

One of the most expecting IoT services is using multiple autonomous mobile robots. Drone and robots on nurse care whose services are expected to become widespread. For these robots, it is essential to create a map of the surroundings using Simultaneous Localization and Mapping (SLAM) technology. SLAM has a high processing load. Therefore, the high-performance edge servers will be placed close to the robot to support the computation. SLAM implementations typically consist of multiple software processes such as distance estimation and mapping. From this, it is considered that using a many-core processor for the edge server that can efficiently support SLAM for multiple robots. However, the effectiveness of using many-core processors for the IoT edge servers is not clear. Therefore, this study investigates the use of a many-core processor when SLAM is the target IoT application. To build a general-purpose mechanism for utilizing a many-core processor, we need a measurement system inside the ROS (Robot Operating System) which is the base middleware for SLAM, in order to measure the processing activity where the ROS components are asynchronously executed. Therefore, we developed a mechanism that makes it possible to accurately measure the execution of the components on ROS, and overcome the problem to allocate the many-core CPU for each ROS component execution properly. As a result, furthermore by considering the cache and properly allocating the ROS node to the processor, the execution performance was improved by up to 7.5%.

Original languageEnglish
Title of host publication2022 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events, PerCom Workshops 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages421-426
Number of pages6
ISBN (Electronic)9781665416474
DOIs
Publication statusPublished - 2022
Event2022 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events, PerCom Workshops 2022 - Pisa, Italy
Duration: 2022 Mar 212022 Mar 25

Publication series

Name2022 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events, PerCom Workshops 2022

Conference

Conference2022 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events, PerCom Workshops 2022
Country/TerritoryItaly
CityPisa
Period22/3/2122/3/25

Keywords

  • Edge computing
  • many-core
  • ROS
  • SLAM

ASJC Scopus subject areas

  • Artificial Intelligence
  • Modelling and Simulation
  • Health Informatics
  • Computer Networks and Communications
  • Computer Science Applications
  • Information Systems
  • Information Systems and Management
  • Safety, Risk, Reliability and Quality

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