Artificial Life and Intelligent Agents - First International Symposium, ALIA 2014, Bangor, UK, November 5-6, 2014. Revised Selected Papers
Artificial Life and Intelligent Agents - First International Symposium, ALIA 2014, Bangor, UK, November 5-6, 2014. Revised Selected Papers
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人工生命和智能代理 - 第一届国际研讨会，ALIA 2014，英国班戈，2014 年 11 月 5-6 日。修订后的精选论文
DOI：
10.1007/978-3-319-18084-7_8
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Jones S
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文献类型：
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作者：
Jones S
希望机器人能够在世界模型中运行自身的机载仿真，以评估动作后果并测试新的控制器解决方案，但仿真在计算上是昂贵的。现代移动的片上系统器件在低功耗水平下具有高性能，并且现在集成了强大的图形处理单元，使其成为托管板载仿真的良好潜在候选者。我们在两个这样的设备上使用并行语言OpenCL来加速广泛使用的Stage机器人模拟器，并在多机器人基准测试中展示了更高的模拟速度和更低的能耗。据我们所知，这是第一次在移动的设备上使用GPGPU来加速机器人仿真，并向提供具有假设能力的自主机器人迈进。
It is desirable for a robot to be able to run on-board simulations of itself in a model of the world to evaluate action consequences and test new controller solutions, but simulation is computationally expensive. Modern mobile System-on-Chip devices have high performance at low power consumption levels and now incorporate powerful graphics processing units, making them good potential candidates to host on-board simulations. We use the parallel language OpenCL on two such devices to accelerate the widely-used Stage robot simulator and demonstrate both higher simulation speed and lower energy use on a multi-robot benchmark. To the best of our knowledge, this is the first time that GPGPU on mobile devices have been used to accelerate robot simulation, and moves towards providing an autonomous robot with an embodiedwhat-ifcapability.