We propose an energy-efficient controller to minimize the energy consumption of a mobile robot by dynamically manipulating the mechanical and computational actuators of the robot. The mobile robot performs real-time vision-based applications based on an event-based camera. The actuators of the controller are CPU voltage/frequency for the computation part and motor voltage for the mechanical part. We show that independently considering speed control of the robot and voltage/frequency control of the CPU does not necessarily result in an energy-efficient solution. In fact, to obtain the highest efficiency, the computation and mechanical parts should be controlled together in synergy. We propose a fast hill-climbing optimization algorithm to allow the controller to find the best CPU/motor configuration at run-time and whenever the mobile robot is facing a new environment during its travel. Experimental results on a robot with Brushless DC Motors, Jetson TX2 board as the computing unit, and a DAVIS-346 event-based camera show that the proposed control algorithm can save battery energy by an average of 50.5%, 41%, and 30%, in low-complexity, medium-complexity, and high-complexity environments, over baselines.
Environmentally Adaptive Control Including Variance Minimization Using Stochastic Predictive Network with Parametric Bias: Application to Mobile Robots
Levels of Automation for a Mobile Robot Teleoperated by a Caregiver
Department of Industrial Engineering and Management Ben-Gurion University of the Negev（内盖夫本古里安大学工业工程与管理系）；Center for Applied Autonomous Sensor Systems (AASS) Örebro University（厄勒布鲁大学应用自主传感器系统中心 (AASS)）
The Adaptive Architectural Layout: How the Control of a Semi-Autonomous Mobile Robotic Partition was Shared to Mediate the Environmental Demands and Resources of an Open-Plan Office
MERIS: Adaptive Real-Time Scheduling of Refined Inference DAGs in Dynamic Robotic Environments
University of California, Riverside（加州大学河滨分校）；University of Pittsburgh（匹兹堡大学）；University of Maryland, Baltimore County（马里兰大学巴尔的摩县分校）；University of Macau（澳门大学）
Zephyron: Integrated Design and Analytical Evaluation of a Solar-Assisted Mobile Manipulator for Multimodal Environmental Reconnaissance and Distributed Visual Inference
Bangladesh Air Force Shaheen College Kurmitola（孟加拉国空军沙欣学院库尔米托拉分校）；St.Joseph Higher Secondary School（圣约瑟夫高等中学）；Greenland Residential School（格陵兰寄宿学校）
The Role of Embodiment in Intuitive Whole-Body Teleoperation for Mobile Manipulation
Computer Science Department, TU Darmstadt（图恩-达姆施塔特大学计算机科学系）；University of São Paulo（圣保罗大学）；Centre for Cognitive Science, TU Darmstadt（图恩-达姆施塔特大学认知科学中心）；Systems AI for Robot Learning, German Research Center for AI (DFKI)（德国人工智能研究中心（DFKI）机器人学习系统AI）
