RoboBench: Towards sustainable robotics system benchmarking
RoboBench: Towards sustainable robotics system benchmarking
复制标题
RoboBench：迈向可持续机器人系统基准测试
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
P. Allen
中科院分区：
文献类型：
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作者：
Jonathan Weisz;Yipeng Huang;Florian Lier;S. Sethumadhavan;P. Allen
我们提出RoboBench，一个新的平台，用于共享机器人全系统模拟基准。这个平台和基准套件的创建是出于对可重复研究的需求。创建全系统基准测试的一个挑战是不同团队创建的软件不兼容，以及复制软件环境的困难。我们通过使用软件容器来解决这个问题，这是一种新兴的虚拟化技术。RoboBench能够在可运行状态下共享机器人软件，捕获执行任务的机器人的软件行为。这些模拟清楚地表明了程序和算法相对于使命中涉及的其他软件的性能影响和资源使用。这些容器与CITK平台集成以进行可重复研究，从而自动生成和发布容器。我们提出了一个概述的系统，我们的原型集的基准任务的描述，沿着与验证研究比较真实的和模拟机器人上执行的使命的计算负载配置文件。此外，我们提出了RoboBench套件中基准的整体分析的初步结果，显示了计算工作在机器人常见的机器人任务中的位置。RoboBench是可扩展的，是迈向强大的，定量的方法来设计计算效率高的机器人的第一步。
We present RoboBench, a novel platform for sharing robot full-system simulations for benchmarking. The creation of this platform and benchmark suite is motivated by a need for reproducible research. A challenge in creating a full-system benchmarks are incompatibilities in software created by different groups and the difficulty of reproducing software environments. We solve this problem by using software containers, an emerging virtualization technology. RoboBench enables sharing robot software in a runnable state, capturing the software behavior of robots carrying out missions. These simulations make clear the performance impact and resource usage of programs and algorithms relative to other software involved in the mission. These containers are integrated with the CITK platform for reproducible research, which automates generation and publishing of the containers. We present an overview of the system, a description of our prototype set of benchmark missions, along with a validation study comparing the computational load profile of a mission performed on a real and simulated robot. Additionally, we present preliminary results of an overall analysis of the benchmarks in the RoboBench suite, showing where computational work is expended in robotics common robotics tasks. RoboBench is extensible, and is the first step toward a robust, quantitative approach to engineering computationally-efficient robots.
认知交互工具包 - 提高机器人系统实验的可重复性
DOI：
10.1007/978-3-319-11900-7_34
发表时间：
2014
期刊：
影响因子：
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作者：
Wienke;Nordmann;Wachsmuth
通讯作者：
Wachsmuth