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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Veröffentlicht in:IEEE robotics and automation letters Jg. 4; H. 3; S. 2722 - 2729
1. Verfasser: Trenkwalder, Stefan M.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Piscataway IEEE 01.07.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
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
Online-Zugang:Volltext
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Zusammenfassung: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.
Bibliographie:ObjectType-Article-1
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2019.2917395