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arXiv · 2501.10513

ConfigBot: Adaptive Resource Allocation for Robot Applications in Dynamic Environments

Rohit Dwivedula·Sadanand Modak·Aditya Akella·Joydeep Biswas·Daehyeok Kim·Christopher J. Rossbach
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Abstract

The growing use of service robots in dynamic environments requires flexible management of on-board compute resources to optimize the performance of diverse tasks such as navigation, localization, and perception. Current robot deployments often rely on static OS configurations and system over-provisioning. However, they are suboptimal because they do not account for variations in resource usage. This results in poor system-wide behavior such as robot instability or inefficient resource use. This paper presents ConifgBot, a novel system designed to adaptively reconfigure robot applications to meet a predefined performance specification by leveraging \emph{runtime profiling} and \emph{automated configuration tuning}. Through experiments on multiple real robots, each running a different stack with diverse performance requirements, which could be \emph{context}-dependent, we illustrate ConifgBot's efficacy in maintaining system stability and optimizing resource allocation. Our findings highlight the promise of automatic system configuration tuning for robot deployments, including adaptation to dynamic changes.

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Rohit Dwivedula, Sadanand Modak, Aditya Akella, Joydeep Biswas, Daehyeok Kim, Christopher J. Rossbach. 2025-01-17. ConfigBot: Adaptive Resource Allocation for Robot Applications in Dynamic Environments. https://arxiv.org/abs/2501.10513

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