اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدAssessing virtualization effects in simulations of distributed robotics
48
0
0.0
(
0
)
تأليف
Sekou L. Remy
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
In this work, our aim is to identify whether the choice of virtualization strategy influences the performance of simulations in robotics. Performance is quantified in the error between a reference trajectory and the actual trajectory for the ball moving along the surface of a smooth plate. The two-sample Kolmogorov-Smirnov test is used to assess significance of variations in performance under the different experimental settings. Our results show that the selection of virtualization technology does have a significant effect on simulation, and moreover this effect can be amplified by the use of some operating systems. While these results are a strong cause for caution, they also provide reason for optimism for those considering repeatable robotics research using virtualization.
قيم البحث
اقرأ أيضاً
Distributed pose graph optimization (DPGO) is one of the fundamental techniques of swarm robotics. Currently, the sub-problems of DPGO are built on the native poses. Our validation proves that this approach may introduce an imbalance in the sizes of
the sub-problems in real-world scenarios, which affects the speed of DPGO optimization, and potentially increases communication requirements. In addition, the coherence of the estimated poses is not guaranteed when the robots in the swarm fail, or partial robots are disconnected. In this paper, we propose BDPGO, a balanced distributed pose graph optimization framework using the idea of decoupling the robot poses and DPGO. BDPGO re-distributes the poses in the pose graph to the robot swarm in a balanced way by introducing a two-stage graph partitioning method to build balanced subproblems. Our validation demonstrates that BDPGO significantly improves the optimization speed without changing the specific algorithm of DPGO in realistic datasets. Whats more, we also validate that BDPGO is robust to robot failure, changes in the wireless network. BDPGO has capable of keeps the coherence of the estimated poses in these situations. The framework also has the potential to be applied to other collaborative simultaneous localization and mapping (CSLAM) problems involved in distributedly solving the factor graph.
Using a robotic platform for telepresence applications has gained paramount importance in this decade. Scenarios such as remote meetings, group discussions, and presentations/talks in seminars and conferences get much attention in this regard. Though
there exist some robotic platforms for such telepresence applications, they lack efficacy in communication and interaction between the remote person and the avatar robot deployed in another geographic location. Also, such existing systems are often cloud-centric which adds to its network overhead woes. In this demo, we develop and test a framework that brings the best of both cloud and edge-centric systems together along with a newly designed communication protocol. Our solution adds to the improvement of the existing systems in terms of robustness and efficacy in communication for a geographically distributed environment.
Internet-native audio-visual services are witnessing rapid development. Among these services, object-based audio-visual services are gaining importance. In 2014, we established the Software Defined Media (SDM) consortium to target new research areas
and markets involving object-based digital media and Internet-by-design audio-visual environments. In this paper, we introduce the SDM architecture that virtualizes networked audio-visual services along with the development of smart buildings and smart cities using Internet of Things (IoT) devices and smart building facilities. Moreover, we design the SDM architecture as a layered architecture to promote the development of innovative applications on the basis of rapid advancements in software-defined networking (SDN). Then, we implement a prototype system based on the architecture, present the system at an exhibition, and provide it as an SDM API to application developers at hackathons. Various types of applications are developed using the API at these events. An evaluation of SDM API access shows that the prototype SDM platform effectively provides 3D audio reproducibility and interactiveness for SDM applications.
We formalize decision-making problems in robotics and automated control using continuous MDPs and actions that take place over continuous time intervals. We then approximate the continuous MDP using finer and finer discretizations. Doing this results
in a family of systems, each of which has an extremely large action space, although only a few actions are interesting. We can view the decision maker as being unaware of which actions are interesting. We can model this using MDPUs, MDPs with unawareness, where the action space is much smaller. As we show, MDPUs can be used as a general framework for learning tasks in robotic problems. We prove results on the difficulty of learning a near-optimal policy in an an MDPU for a continuous task. We apply these ideas to the problem of having a humanoid robot learn on its own how to walk.
The prevalence of smart wearable devices is increasing exponentially and we are witnessing a wide variety of fascinating new services that leverage the capabilities of these wearables. Wearables are truly changing the way mobile computing is deployed
and mobile applications are being developed. It is possible to leverage the capabilities such as connectivity, processing, and sensing of wearable devices in an adaptive manner for efficient resource usage and information accuracy within the personal area network. We show that application developers are not yet taking advantage of these cross-device capabilities, however, instead using wearables as passive sensors or simple end displays to provide notifications to the user. We thus design AFV (Application Function Virtualization), an architecture enabling automated dynamic function virtualization and scheduling across devices in a personal area network, simplifying the development of the apps that are adaptive to context changes. AFV provides a simple set of APIs hiding complex architectural tasks from app developers whilst continuously monitoring the user, device and network context, to enable the adaptive invocation of functions across devices. We show the feasibility of our design by implementing AFV on Android, and the benefits for the user in terms of resource efficiency, especially in saving energy consumption, and quality of experience with multiple use cases.
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
