Dynamic Process Migration in Heterogeneous ROS-based Environments

Cano, J. , Molinos, E., Nagarajan, V. and Vijayakumar, S. (2015) Dynamic Process Migration in Heterogeneous ROS-based Environments. In: 2015 International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, 27-31 Jul 2015, ISBN 9781467375092 (doi:10.1109/ICAR.2015.7251505)

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Abstract

In distributed (mobile) robotics environments, the different computing substrates offer flexible resource allocation options to perform computations that implement an overall system goal. The AnyScale concept that we introduce and describe in this paper exploits this redundancy by dynamically allocating tasks to appropriate substrates (or scales) to optimize some level of system performance while migrating others depending on current resource and performance parameters. In this paper, we demonstrate this concept with a general ROS-based infrastructure that solves the task allocation problem by optimising the system performance while correctly reacting to unpredictable events at the same time. Assignment decisions are based on a characterisation of the static/dynamic parameters that represent the system and its interaction with the environment. We instantiate our infrastructure on a case study application, in which a mobile robot navigates along the floor of a building trying to reach a predefined goal. Experimental validation demonstrates more robust performance (around a third improvement in metrics) under the Anyscale implementation framework.

Item Type:Conference Proceedings
Additional Information:This work is supported by the AnyScale Applications project under the EPSRC grant EP/L000725/1, and also by the ”Ayudas de Movilidad del Personal Investigador en Formacion” program, funded by University of Alcalá.
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Cano Reyes, Dr Jose
Authors: Cano, J., Molinos, E., Nagarajan, V., and Vijayakumar, S.
College/School:College of Science and Engineering > School of Computing Science
ISBN:9781467375092
Published Online:10 September 2015
Copyright Holders:Copyright © 2015 IEEE
First Published:First published in 2015 International Conference on Advanced Robotics (ICAR)
Publisher Policy:Reproduced in accordance with the publisher copyright policy

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Project CodeAward NoProject NamePrincipal InvestigatorFunder's NameFunder RefLead Dept
614231AnyScale ApplicationsJeremy SingerEngineering and Physical Sciences Research Council (EPSRC)EP/L000725/1COM - COMPUTING SCIENCE