论文标题
轮子在车轮上
Cluster on Wheels
论文作者
论文摘要
本文提出了一个非常紧凑的16节点群集，该群集是未来机器人的核心，用于收集和存储大量的传感器数据，用于研究同时定位和映射（SLAM）。据我们所知，这是第一次在机器人技术中使用这种群集。我们首先介绍计算此类机器人的要求和不同选项，然后详细显示解决方案的硬件和软件。该群集由16个AMD Ryzen 7 5700U CPU组成，共有128个核心。作为要在ClearPath Husky机器人上使用的系统，它的尺寸很小，可以通过电池电量操作，并且所有所需的功率和网络组件都集成了。完整的群集上的压力测试表明表现良好。
This paper presents a very compact 16-node cluster that is the core of a future robot for collecting and storing massive amounts of sensor data for research on Simultaneous Localization and Mapping (SLAM). To the best of our knowledge, this is the first time that such a cluster is used in robotics. We first present the requirements and different options for computing of such a robot and then show the hardware and software of our solution in detail. The cluster consists of 16 nodes of AMD Ryzen 7 5700U CPUs with a total of 128 cores. As a system that is to be used on a Clearpath Husky robot, it is very small in size, can be operated from battery power and has all required power and networking components integrated. Stress tests on the completed cluster show that it performs well.
