5,402 research outputs found

    Attention and Anticipation in Fast Visual-Inertial Navigation

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    We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the robot can allocate limited resources to VIN, due to tight computational constraints. Therefore, we answer the following question: under limited resources, what are the most relevant visual cues to maximize the performance of visual-inertial navigation? Our approach has four key ingredients. First, it is task-driven, in that the selection of the visual cues is guided by a metric quantifying the VIN performance. Second, it exploits the notion of anticipation, since it uses a simplified model for forward-simulation of robot dynamics, predicting the utility of a set of visual cues over a future time horizon. Third, it is efficient and easy to implement, since it leads to a greedy algorithm for the selection of the most relevant visual cues. Fourth, it provides formal performance guarantees: we leverage submodularity to prove that the greedy selection cannot be far from the optimal (combinatorial) selection. Simulations and real experiments on agile drones show that our approach ensures state-of-the-art VIN performance while maintaining a lean processing time. In the easy scenarios, our approach outperforms appearance-based feature selection in terms of localization errors. In the most challenging scenarios, it enables accurate visual-inertial navigation while appearance-based feature selection fails to track robot's motion during aggressive maneuvers.Comment: 20 pages, 7 figures, 2 table

    Transparent fault tolerance for scalable functional computation

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    Reliability is set to become a major concern on emergent large-scale architectures. While there are many parallel languages, and indeed many parallel functional languages, very few address reliability. The notable exception is the widely emulated Erlang distributed actor model that provides explicit supervision and recovery of actors with isolated state. We investigate scalable transparent fault tolerant functional computation with automatic supervision and recovery of tasks. We do so by developing HdpH-RS, a variant of the Haskell distributed parallel Haskell (HdpH) DSL with Reliable Scheduling. Extending the distributed work stealing protocol of HdpH for task supervision and recovery is challenging. To eliminate elusive concurrency bugs, we validate the HdpH-RS work stealing protocol using the SPIN model checker. HdpH-RS differs from the actor model in that its principal entities are tasks, i.e. independent stateless computations, rather than isolated stateful actors. Thanks to statelessness, fault recovery can be performed automatically and entirely hidden in the HdpH-RS runtime system. Statelessness is also key for proving a crucial property of the semantics of HdpH-RS: fault recovery does not change the result of the program, akin to deterministic parallelism. HdpH-RS provides a simple distributed fork/join-style programming model, with minimal exposure of fault tolerance at the language level, and a library of higher level abstractions such as algorithmic skeletons. In fact, the HdpH-RS DSL is exactly the same as the HdpH DSL, hence users can opt in or out of fault tolerant execution without any refactoring. Computations in HdpH-RS are always as reliable as the root node, no matter how many nodes and cores are actually used. We benchmark HdpH-RS on conventional clusters and an HPC platform: all benchmarks survive Chaos Monkey random fault injection; the system scales well e.g. up to 1,400 cores on the HPC; reliability and recovery overheads are consistently low even at scale

    Analysis of a Parallel Machine Scheduling Problem with Sequence Dependent Setup Times and Job Availability Intervals

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    In this study, we propose constraint programming (CP) model and logic-based Benders algorithms in order to make the best decisions for scheduling non-identical jobs with availability intervals and sequence dependent setup times on unrelated parallel machines in a fixed planning horizon. In this problem, each job has a profit, cost and must be assigned to at most one machine in such a way that total profit is maximized. In addition, the total cost has to be less than or equal to a budget level. Computational tests are performed on a real-life case study prepared in collaboration with the U.S. Army Corps of Engineers (USACE). Our initial investigations show that the pure CP model is very efficient in obtaining good quality feasible solutions but, fails to report the optimal solution for the majority of the problem instances. On the other hand, the two logic-based Benders decomposition algorithms are able to obtain near optimal solutions for 86 instances out of 90 examinees. For the remaining instances, they provide a feasible solution. Further investigations show the high quality of the solutions obtained by the pure CP model

    The Family of MapReduce and Large Scale Data Processing Systems

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    In the last two decades, the continuous increase of computational power has produced an overwhelming flow of data which has called for a paradigm shift in the computing architecture and large scale data processing mechanisms. MapReduce is a simple and powerful programming model that enables easy development of scalable parallel applications to process vast amounts of data on large clusters of commodity machines. It isolates the application from the details of running a distributed program such as issues on data distribution, scheduling and fault tolerance. However, the original implementation of the MapReduce framework had some limitations that have been tackled by many research efforts in several followup works after its introduction. This article provides a comprehensive survey for a family of approaches and mechanisms of large scale data processing mechanisms that have been implemented based on the original idea of the MapReduce framework and are currently gaining a lot of momentum in both research and industrial communities. We also cover a set of introduced systems that have been implemented to provide declarative programming interfaces on top of the MapReduce framework. In addition, we review several large scale data processing systems that resemble some of the ideas of the MapReduce framework for different purposes and application scenarios. Finally, we discuss some of the future research directions for implementing the next generation of MapReduce-like solutions.Comment: arXiv admin note: text overlap with arXiv:1105.4252 by other author

    Compact LP Relaxations for Allocation Problems

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    We consider the restricted versions of Scheduling on Unrelated Machines and the Santa Claus problem. In these problems we are given a set of jobs and a set of machines. Every job j has a size p_j and a set of allowed machines Gamma(j), i.e., it can only be assigned to those machines. In the first problem, the objective is to minimize the maximum load among all machines; in the latter problem it is to maximize the minimum load. For these problems, the strongest LP relaxation known is the configuration LP. The configuration LP has an exponential number of variables and it cannot be solved exactly unless P = NP. Our main result is a new LP relaxation for these problems. This LP has only O(n^3) variables and constraints. It is a further relaxation of the configuration LP, but it obeys the best bounds known for its integrality gap (11/6 and 4). For the configuration LP these bounds were obtained using two local search algorithm. These algorithms, however, differ significantly in presentation. In this paper, we give a meta algorithm based on the local search ideas. With an instantiation for each objective function, we prove the bounds for the new compact LP relaxation (in particular, for the configuration LP). This way, we bring out many analogies between the two proofs, which were not apparent before
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