Computational Resources of Miniature Robots: Classification and Implications

When it comes to describing robots, many roboticists choose to focus on the size, types of actuators, or other physical capabilities. As most areas of robotics deploy robots with large memory and processing power, the question "how computational resources limit what a robot can do" is ofte...

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Vydáno v:	IEEE robotics and automation letters Ročník 4; číslo 3; s. 2722 - 2729
Hlavní autor:	Trenkwalder, Stefan M.
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Piscataway IEEE 01.07.2019 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	Actuators Bluetooth Classification Constraints control architectures and programming Indexes IP networks Mathematical programming Memory management middleware and programming environments Performance evaluation and benchmarking Random access memory Robot sensing systems Robotics Robots software swarms
ISSN:	2377-3766, 2377-3766
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Abstract	When it comes to describing robots, many roboticists choose to focus on the size, types of actuators, or other physical capabilities. As most areas of robotics deploy robots with large memory and processing power, the question "how computational resources limit what a robot can do" is often overlooked. However, the capabilities of many miniature robots are limited by significantly less memory and processing power. At present, there is no systematic approach to comparing and quantifying the computational resources as a whole and their implications. This letter proposes computational indices that systematically quantify computational resources-individually and as a whole. Then, by comparing 31 state-of-the-art miniature robots, a computational classification ranging from non-computing to minimally-constrained robots is introduced. Finally, the implications of computational constraints on robotic software are discussed.
AbstractList	When it comes to describing robots, many roboticists choose to focus on the size, types of actuators, or other physical capabilities. As most areas of robotics deploy robots with large memory and processing power, the question "how computational resources limit what a robot can do" is often overlooked. However, the capabilities of many miniature robots are limited by significantly less memory and processing power. At present, there is no systematic approach to comparing and quantifying the computational resources as a whole and their implications. This letter proposes computational indices that systematically quantify computational resources-individually and as a whole. Then, by comparing 31 state-of-the-art miniature robots, a computational classification ranging from non-computing to minimally-constrained robots is introduced. Finally, the implications of computational constraints on robotic software are discussed.
Author	Trenkwalder, Stefan M.
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SubjectTerms	Actuators Bluetooth Classification Constraints control architectures and programming Indexes IP networks Mathematical programming Memory management middleware and programming environments Performance evaluation and benchmarking Random access memory Robot sensing systems Robotics Robots software swarms
Title	Computational Resources of Miniature Robots: Classification and Implications
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