Resource-Performance Trade-off Analysis for Mobile Robot Design
The design of mobile autonomous robots is challenging due to the limited on-board resources such as processing power and energy. A promising approach is to generate intelligent schedules that reduce the resource consumption while maintaining best performance, or more interestingly, to trade off redu...
| Main Authors: | , , , , , , , , |
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| Format: | Journal article |
| Published: |
2017
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| _version_ | 1826291951609053184 |
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| author | Lahijanian, M Svorenova, M Morye, A Yeomans, B Rao, D Posner, I Newman, P Kress-Gazit, H Kwiatkowska, M |
| author_facet | Lahijanian, M Svorenova, M Morye, A Yeomans, B Rao, D Posner, I Newman, P Kress-Gazit, H Kwiatkowska, M |
| author_sort | Lahijanian, M |
| collection | OXFORD |
| description | The design of mobile autonomous robots is challenging due to the limited on-board resources such as processing power and energy. A promising approach is to generate intelligent schedules that reduce the resource consumption while maintaining best performance, or more interestingly, to trade off reduced resource consumption for a slightly lower but still acceptable level of performance. In this paper, we provide a framework to aid designers in exploring such resource-performance trade-offs and finding schedules for mobile robots, guided by questions such as "what is the minimum resource budget required to achieve a given level of performance?" The framework is based on a quantitative multi-objective verification technique which, for a collection of possibly conflicting objectives, produces the Pareto front that contains all the optimal trade-offs that are achievable. The designer then selects a specific Pareto point based on the resource constraints and desired performance level, and a correct-by-construction schedule that meets those constraints is automatically generated. We demonstrate the efficacy of this framework on several robotic scenarios in both simulations and experiments with encouraging results. |
| first_indexed | 2024-03-07T03:07:13Z |
| format | Journal article |
| id | oxford-uuid:b2f5f123-e073-458a-9381-2d4073ed9d17 |
| institution | University of Oxford |
| last_indexed | 2024-03-07T03:07:13Z |
| publishDate | 2017 |
| record_format | dspace |
| spelling | oxford-uuid:b2f5f123-e073-458a-9381-2d4073ed9d172022-03-27T04:15:29ZResource-Performance Trade-off Analysis for Mobile Robot DesignJournal articlehttp://purl.org/coar/resource_type/c_dcae04bcuuid:b2f5f123-e073-458a-9381-2d4073ed9d17Symplectic Elements at Oxford2017Lahijanian, MSvorenova, MMorye, AYeomans, BRao, DPosner, INewman, PKress-Gazit, HKwiatkowska, MThe design of mobile autonomous robots is challenging due to the limited on-board resources such as processing power and energy. A promising approach is to generate intelligent schedules that reduce the resource consumption while maintaining best performance, or more interestingly, to trade off reduced resource consumption for a slightly lower but still acceptable level of performance. In this paper, we provide a framework to aid designers in exploring such resource-performance trade-offs and finding schedules for mobile robots, guided by questions such as "what is the minimum resource budget required to achieve a given level of performance?" The framework is based on a quantitative multi-objective verification technique which, for a collection of possibly conflicting objectives, produces the Pareto front that contains all the optimal trade-offs that are achievable. The designer then selects a specific Pareto point based on the resource constraints and desired performance level, and a correct-by-construction schedule that meets those constraints is automatically generated. We demonstrate the efficacy of this framework on several robotic scenarios in both simulations and experiments with encouraging results. |
| spellingShingle | Lahijanian, M Svorenova, M Morye, A Yeomans, B Rao, D Posner, I Newman, P Kress-Gazit, H Kwiatkowska, M Resource-Performance Trade-off Analysis for Mobile Robot Design |
| title | Resource-Performance Trade-off Analysis for Mobile Robot Design |
| title_full | Resource-Performance Trade-off Analysis for Mobile Robot Design |
| title_fullStr | Resource-Performance Trade-off Analysis for Mobile Robot Design |
| title_full_unstemmed | Resource-Performance Trade-off Analysis for Mobile Robot Design |
| title_short | Resource-Performance Trade-off Analysis for Mobile Robot Design |
| title_sort | resource performance trade off analysis for mobile robot design |
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