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Mobile GPGPU acceleration of embodied robot simulation

Jones, Simon; Studley, Matthew; Winfield, Alan F.T.

Authors

Simon Jones



Contributors

Christopher J Headleand
Editor

William J Teahan
Editor

Llyr Ap Cenydd
Editor

Abstract

It is desirable for a robot to be able to run on-board simulations of itself in a model of the world to evaluate action consequences and test new controller solutions, but simulation is computationally expensive. Modern mobile System-on-Chip devices have high performance at low power consumption levels and now incorporate powerful graphics processing units, making them good potential candidates to host onboard simulations. We use the parallel language OpenCL on two such devices to accelerate the widely-used Stage robot simulator and demonstrate both higher simulation speed and lower energy use on a multirobot benchmark. To the best of our knowledge, this is the first time that GPGPU on mobile devices have been used to accelerate robot simulation, and moves towards providing an autonomous robot with an embodied what-if capability.

Start Date Nov 1, 2014
Publication Date Nov 1, 2014
Peer Reviewed Peer Reviewed
Volume 519
Pages 97-109
Series Title Communications in Computer and Information Science
Book Title Artificial Life and Intelligent Agents: First International Symposium, ALIA 2014, Bangor, UK, November 5-6, 2014. Revised Selected Papers
ISBN 9783319180847
Institution Citation Jones, S., Studley, M., & Winfield, A. F. (2014). Mobile GPGPU acceleration of embodied robot simulation. In L. Ap Cenydd, C. J. Headleand, & W. J. Teahan (Eds.), Artificial Life and Intelligent Agents: First International Symposium, ALIA 2014, Bangor, UK, November 5-6, 2014. Revised Selected Papers, 97-109. Springer. https://doi.org/10.1007/978-3-319-18084-7_8
DOI https://doi.org/10.1007/978-3-319-18084-7_8
Keywords GPU acceleration, robot simulation
Publisher URL http://dx.doi.org/10.1007/978-3-319-18084-7_8
Additional Information Title of Conference or Conference Proceedings : Artificial Life and Intelligent Agents Symposium: ALIA- 2014