Path planning is one of the key functional blocks for any autonomous aerial vehicle (UAV). The goal of a path planner module is to constantly update the route of the vehicle based on information sensed in real-time. Given the high computational requirements of this task, heterogeneous many-cores are appealing candidates for its execution. Approximate path computation has proven a promising approach to reduce total execution time, at the cost of a slight loss in accuracy. In this work we study performance and accuracy of state-of-the-art, near-optimal parallel path planning in combination with program transformations aimed at ensuring efficient use of embedded GPU resources. We propose a profile-based algorithmic variant which boosts GPU execution by up to â 7Ã , while maintaining the accuracy loss below 5%.

On the accuracy of near-optimal CPU-based path planning for UAVs / Palossi, Daniele; Marongiu, Andrea; Benini, Luca. - ELETTRONICO. - (2017), pp. 85-88. (Intervento presentato al convegno 20th International Workshop on Software and Compilers for Embedded Systems, SCOPES 2017 tenutosi a Schloss Rheinfels, deu nel 2017) [10.1145/3078659.3079072].

On the accuracy of near-optimal CPU-based path planning for UAVs

Marongiu, Andrea;
2017

Abstract

Path planning is one of the key functional blocks for any autonomous aerial vehicle (UAV). The goal of a path planner module is to constantly update the route of the vehicle based on information sensed in real-time. Given the high computational requirements of this task, heterogeneous many-cores are appealing candidates for its execution. Approximate path computation has proven a promising approach to reduce total execution time, at the cost of a slight loss in accuracy. In this work we study performance and accuracy of state-of-the-art, near-optimal parallel path planning in combination with program transformations aimed at ensuring efficient use of embedded GPU resources. We propose a profile-based algorithmic variant which boosts GPU execution by up to â 7Ã , while maintaining the accuracy loss below 5%.
2017
20th International Workshop on Software and Compilers for Embedded Systems, SCOPES 2017
Schloss Rheinfels, deu
2017
85
88
Palossi, Daniele; Marongiu, Andrea; Benini, Luca
On the accuracy of near-optimal CPU-based path planning for UAVs / Palossi, Daniele; Marongiu, Andrea; Benini, Luca. - ELETTRONICO. - (2017), pp. 85-88. (Intervento presentato al convegno 20th International Workshop on Software and Compilers for Embedded Systems, SCOPES 2017 tenutosi a Schloss Rheinfels, deu nel 2017) [10.1145/3078659.3079072].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1171898
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