Markov Decision Processes (MDPs) provide a framework for a machine to act autonomously and intelligently in environments where the effects of its actions are not deterministic. MDPs have numerous applications. We focus on practical applications for decision making, such as autonomous driving and service robotics, that have to run on mobile platforms with scarce computing and power resources. In our study, we use Value Iteration to solve MDPs, a core method of the paradigm to find optimal sequences of actions, which is well known for its high computational cost.
In order to solve these computationally complex problems efficiently in platforms with stringent power consumption constraints, high-performance accelerator hardware and parallelised software come to the rescue. We introduce a generalisable approach to implement practical applications for decision making, such as autonomous driving on mobile and embedded low-power heterogeneous SoC platforms that integrate an accelerator (GPU) with a multicore. We evaluate three scheduling strategies that enable concurrent execution and efficient use of resources on a variety of SoCs embedding a multicore CPU and integrated GPU, namely Oracle, Dynamic, and LogFit. We compare these strategies for solving an MDP modelling the use-case of autonomous robot navigation in indoor environments on four representative platforms for mobile decision-making applications with a power use ranging from 4 to 65 Watts. We provide a rigorous analysis of the results to better understand their behaviour depending on the MDP size and the computing platform. Our experimental results show that by using CPU-GPU heterogeneous strategies, the computation time and energy required are considerably reduced with respect to multicore implementation, regardless of the computational platform.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.
This work was partially supported by the Spanish project TIN 2016-80920-R
