Online event-based perception techniques on board robots navigating in complex, unstructured, and dynamic environments can suffer unpredictable changes in the incoming event rates and their processing times, which can cause computational overflow or loss of responsiveness. This paper presents ASAP: a novel event handling framework that dynamically adapts the transmission of events to the processing algorithm, keeping the system responsiveness and preventing overflows. ASAP is composed of two adaptive mechanisms. The first one prevents event processing overflows by discarding an adaptive percentage of the incoming events. The second mechanism dynamically adapts the size of the event packages to reduce the delay between event generation and processing. ASAP has guaranteed convergence and is flexible to the processing algorithm. It has been validated on board a quadrotor and an ornithopter robot in challenging conditions.
翻译:在复杂、无结构和动态环境中航行的机载机器人的在线事件感知技术可能会在即将到来的事件率及其处理时间方面发生不可预测的变化,从而导致计算溢出或反应丧失。本文介绍了ASAP:一个动态调整事件传输到处理算法、保持系统反应能力和防止溢出的新事件处理框架。ASAP由两个适应机制组成。第一个机制是放弃对即将到来的事件的适应性百分比,防止事件处理溢出。第二个机制是动态调整事件包的大小,以减少事件生成和处理之间的延迟。ASAP保证了对处理算法的趋同性和灵活性,并在具有挑战性的条件下在夸德罗托和奥尼托特机器人上进行了验证。