{"id":327,"date":"2017-06-14T17:25:27","date_gmt":"2017-06-14T16:25:27","guid":{"rendered":"http:\/\/babel.isa.uma.es\/crumb\/?p=327"},"modified":"2018-06-21T14:31:52","modified_gmt":"2018-06-21T13:31:52","slug":"paper-published-on-the-paralellization-of-value-iteration-tested-on-the-crumb-robot","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/2017\/06\/14\/paper-published-on-the-paralellization-of-value-iteration-tested-on-the-crumb-robot\/","title":{"rendered":"Paper published on the paralellization of Value Iteration, tested on the CRUMB robot"},"content":{"rendered":"<p>As part of the work of Denisa-Andreaa Constantinescu, she has published a paper at the <a href=\"http:\/\/www.jornadassarteco.org\/\" target=\"_blank\">Jornadas SARTECO<\/a> that analyzes the possibilities of paralellizing the well-known Value Iteration algorithm for making decisions aboard a mobile robot. She has used the V-REP simulator of CRUMB for conducting many tests in that paper.<\/p>\n<p>This is the title and abstract of the pre-camera-ready version:<\/p>\n<h5>Denisa Andreea Constantinescu, Angeles Navarro, Juan-Antonio Fernandez-Madrigal, and Rafael Asenjo (2017), <strong>Optimization of a decision-making algorithm for heterogeneous platforms<\/strong>, Jornadas SARTECO, M\u00e1laga (Spain).<\/h5>\n<blockquote><p>This paper presents our experience optimizing a decision-making algorithm for navigating an autonomous robotic agent under uncertainty. For the experiment we used CRUMB &#8211; a relatively low cost mobile robot equipped with a heterogeneous computing platform. We have chosen the Value Iteration (VI) algorithm for computing the optimal navigation policy in the context of a Markov Decision Process. Using as a starting point the classical VI algorithm, we have developed a sequential implementation and proposed three variants that optimize for time and power efficiency. The first optimization is based on multi-core parallelism on the CPU, the second on asymmetric big.LITTLE multi-core parallelism, and the third is a heterogeneous or hybrid solution that combines the previous two. Our results show that multi-core parallelism yields the best real time performance (sequential programming is the only one not suitable for real-time), while the hybrid approach has the smallest energy consumption.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>As part of the work of Denisa-Andreaa Constantinescu, she has published a paper at the Jornadas SARTECO that analyzes the possibilities of paralellizing the well-known Value Iteration algorithm for making decisions aboard a mobile robot. She has used the V-REP simulator of CRUMB for conducting many tests in that paper. This is the title and [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[21,2,22,8,5],"tags":[],"class_list":["post-327","post","type-post","status-publish","format-standard","hentry","category-decision-making","category-news","category-publications","category-results","category-work-v-rep"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/posts\/327"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/comments?post=327"}],"version-history":[{"count":8,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/posts\/327\/revisions"}],"predecessor-version":[{"id":356,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/posts\/327\/revisions\/356"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/media?parent=327"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/categories?post=327"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/tags?post=327"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}