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Title:CPU scheduling in robotics & AR/VR applications
Author(s):Aditi, -
Advisor(s):Godfrey, Philip Brighten; Mittal, Radhika
Department / Program:Computer Science
Discipline:Computer Science
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(s):Robotics
Scheduling
Resource management
AR/VR
Abstract:Robot and AR/VR systems have to take highly responsive real-time actions, driven by complex decisions involving a pipeline of sensing, perception, planning, and reaction tasks. Given constrained resources, this leads to a difficult scheduling problem. In practice – system designers manually tune params for their specific hardware and application, while real-time scheduling approaches assume static periodic schedules – both of which result in suboptimal application performance especially when both the environment and the hardware can change. In this work, we highlight the emerging need for automated resource optimization at runtime in sense-react systems. As a step towards this goal, we identify various unique challenges in this area, especially understanding the key scheduling requirements for such systems. We propose a preliminary framework and a novel scheduling policy that enables efficient and dynamic optimization of application-specific performance goals. In experiments with a prototype implemented in the ROS and ILLIXR platforms, we show that our approach improves application performance, for example, 15x better performance for a face tracking robot and 7x better collision avoidance for a navigation robot. We believe this work will lead to systems that are substantially easier to develop and fulfill their tasks measurably better.
Issue Date:2021-04-27
Type:Thesis
URI:http://hdl.handle.net/2142/110582
Rights Information:Copyright 2021 - Aditi
Date Available in IDEALS:2021-09-17
Date Deposited:2021-05


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