On-Device CPU Scheduling for Sense-React Systems Article Swipe
Aditi Partap
,
Samuel Grayson
,
Muhammad Huzaifa
,
Sarita V. Adve
,
Brighten Godfrey
,
Saurabh Gupta
,
Kris Hauser
,
Radhika Mittal
·
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2207.13280
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2207.13280
Sense-react systems (e.g. robotics and AR/VR) have to take highly responsive real-time actions, driven by complex decisions involving a pipeline of sensing, perception, planning, and reaction tasks. These tasks must be scheduled on resource-constrained devices such that the performance goals and the requirements of the application are met. This is a difficult scheduling problem that requires handling multiple scheduling dimensions, and variations in resource usage and availability. In practice, system designers manually tune parameters for their specific hardware and application, which results in poor generalization and increases the development burden. In this work, we highlight the emerging need for scheduling CPU resources at runtime in sense-react systems. We study three canonical applications (face tracking, robot navigation, and VR) to first understand the key scheduling requirements for such systems. Armed with this understanding, we develop a scheduling framework, Catan, that dynamically schedules compute resources across different components of an app so as to meet the specified application requirements. Through experiments with a prototype implemented on a widely-used robotics framework (ROS) and an open-source AR/VR platform, we show the impact of system scheduling on meeting the performance goals for the three applications, how Catan is able to achieve better application performance than hand-tuned configurations, and how it dynamically adapts to runtime variations.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2207.13280
- https://arxiv.org/pdf/2207.13280
- OA Status
- green
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4288724433
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4288724433Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2207.13280Digital Object Identifier
- Title
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On-Device CPU Scheduling for Sense-React SystemsWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2022Year of publication
- Publication date
-
2022-07-27Full publication date if available
- Authors
-
Aditi Partap, Samuel Grayson, Muhammad Huzaifa, Sarita V. Adve, Brighten Godfrey, Saurabh Gupta, Kris Hauser, Radhika MittalList of authors in order
- Landing page
-
https://arxiv.org/abs/2207.13280Publisher landing page
- PDF URL
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https://arxiv.org/pdf/2207.13280Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2207.13280Direct OA link when available
- Concepts
-
Computer science, Scheduling (production processes), Robotics, Distributed computing, Dynamic priority scheduling, Two-level scheduling, Robot, Real-time computing, Embedded system, Artificial intelligence, Operating system, Schedule, Engineering, Operations managementTop concepts (fields/topics) attached by OpenAlex
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0Total citation count in OpenAlex
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10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.handling | 56 |
| abstract_inverted_index.hardware | 77 |
| abstract_inverted_index.manually | 71 |
| abstract_inverted_index.multiple | 57 |
| abstract_inverted_index.pipeline | 19 |
| abstract_inverted_index.reaction | 25 |
| abstract_inverted_index.requires | 55 |
| abstract_inverted_index.resource | 63 |
| abstract_inverted_index.robotics | 3, 166 |
| abstract_inverted_index.sensing, | 21 |
| abstract_inverted_index.specific | 76 |
| abstract_inverted_index.systems. | 106, 127 |
| abstract_inverted_index.canonical | 110 |
| abstract_inverted_index.decisions | 16 |
| abstract_inverted_index.designers | 70 |
| abstract_inverted_index.different | 144 |
| abstract_inverted_index.difficult | 51 |
| abstract_inverted_index.framework | 167 |
| abstract_inverted_index.highlight | 94 |
| abstract_inverted_index.increases | 86 |
| abstract_inverted_index.involving | 17 |
| abstract_inverted_index.planning, | 23 |
| abstract_inverted_index.platform, | 173 |
| abstract_inverted_index.practice, | 68 |
| abstract_inverted_index.prototype | 161 |
| abstract_inverted_index.real-time | 11 |
| abstract_inverted_index.resources | 101, 142 |
| abstract_inverted_index.scheduled | 31 |
| abstract_inverted_index.schedules | 140 |
| abstract_inverted_index.specified | 154 |
| abstract_inverted_index.tracking, | 113 |
| abstract_inverted_index.components | 145 |
| abstract_inverted_index.framework, | 136 |
| abstract_inverted_index.hand-tuned | 200 |
| abstract_inverted_index.parameters | 73 |
| abstract_inverted_index.responsive | 10 |
| abstract_inverted_index.scheduling | 52, 58, 99, 123, 135, 180 |
| abstract_inverted_index.understand | 120 |
| abstract_inverted_index.variations | 61 |
| abstract_inverted_index.Sense-react | 0 |
| abstract_inverted_index.application | 45, 155, 197 |
| abstract_inverted_index.development | 88 |
| abstract_inverted_index.dimensions, | 59 |
| abstract_inverted_index.dynamically | 139, 205 |
| abstract_inverted_index.experiments | 158 |
| abstract_inverted_index.implemented | 162 |
| abstract_inverted_index.navigation, | 115 |
| abstract_inverted_index.open-source | 171 |
| abstract_inverted_index.perception, | 22 |
| abstract_inverted_index.performance | 38, 184, 198 |
| abstract_inverted_index.sense-react | 105 |
| abstract_inverted_index.variations. | 209 |
| abstract_inverted_index.widely-used | 165 |
| abstract_inverted_index.application, | 79 |
| abstract_inverted_index.applications | 111 |
| abstract_inverted_index.requirements | 42, 124 |
| abstract_inverted_index.applications, | 189 |
| abstract_inverted_index.availability. | 66 |
| abstract_inverted_index.requirements. | 156 |
| abstract_inverted_index.generalization | 84 |
| abstract_inverted_index.understanding, | 131 |
| abstract_inverted_index.configurations, | 201 |
| abstract_inverted_index.resource-constrained | 33 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 8 |
| citation_normalized_percentile |