Automatic Configuration of ROS Applications for Near-optimal Performance

Cano, J. , Bordallo, A., Nagarajan, V., Ramamoorthy, S. and Vijayakumar, S. (2016) Automatic Configuration of ROS Applications for Near-optimal Performance. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 09-14 Oct 2016, pp. 2217-2223. ISBN 9781509037629 (doi: 10.1109/IROS.2016.7759347)

177444.pdf - Accepted Version



The performance of a ROS application is a function of the individual performance of its constituent nodes. Since ROS nodes are typically configurable (parameterised), the specific parameter values adopted will determine the level of performance generated. In addition, ROS applications may be distributed across multiple computation devices, thus providing different options for node allocation. We address two configuration problems that the typical ROS user is confronted with: i) Determining parameter values and node allocations for maximising performance; ii) Determining node allocations for minimising hardware resources that can guarantee the desired performance. We formalise these problems with a mathematical model, a constrained form of a multiple-choice multiple knapsack problem. We propose a greedy algorithm for optimising each problem, using linear regression for predicting the performance of an individual ROS node over a continuum set of parameter combinations. We evaluate the algorithms through simulation and we validate them in a real ROS scenario, showing that the expected performance levels only deviate from the real measurements by an average of 2.5%.

Item Type:Conference Proceedings
Additional Information:This work was supported by the AnyScale Applications project under the EPSRC grant EP/L000725/1, and partially by the EPSRC grant EP/F500385/1 and the BBSRC grant BB/F529254/1.
Glasgow Author(s) Enlighten ID:Cano Reyes, Dr Jose
Authors: Cano, J., Bordallo, A., Nagarajan, V., Ramamoorthy, S., and Vijayakumar, S.
College/School:College of Science and Engineering > School of Computing Science
Published Online:01 December 2016
Copyright Holders:Copyright © 2016 IEEE
First Published:First published in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): 2217-2223
Publisher Policy:Reproduced in accordance with the publisher copyright policy

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