On the mitigation of multicore-induced behavioral deviations of an autonomous ground vehicle

Jonathan Sprinkle, Brandon Eames

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Complex systems such as autonomous vehicles frequently utilize a distributed network of computers for sensing, control, and supervisory tasks. A common way to abstract the deployment of the computational nodes that implement the system's behavior is through the utilization of middleware, which treats each atomic processing element as a component. Multiple components may execute on a single node, and nodes are typically heterogeneous in their processing power. For component implementations that use an event-driven model of computation, however, significant behavioral deviations may occur when a single-core computational node is replaced with a multicore node, especially if that computational node is running more than one component. This paper discusses the observed behavioral deviations through a series of simulations with identical initial conditions, performed on various single core and multicore processing platforms. In addition to the empirical demonstration, the paper provides a technique to mitigate the behavioral deviations by inserting a time-triggered buffer between a key set of components, enforcing a loosely time-triggered execution even though the system is still defined through event-triggered components. This preserves existing legacy code, but provides a time-triggered execution.

Original languageEnglish (US)
Title of host publicationProceedings - 18th IEEE International Conference and Workshops on Engineering of Computer-Based Systems, ECBS 2011
Pages159-168
Number of pages10
DOIs
Publication statusPublished - 2011
Event18th IEEE International Conference and Workshops on Engineering of Computer-Based Systems, ECBS 2011 - Las Vegas, NV, United States
Duration: Apr 27 2011Apr 29 2011

Other

Other18th IEEE International Conference and Workshops on Engineering of Computer-Based Systems, ECBS 2011
CountryUnited States
CityLas Vegas, NV
Period4/27/114/29/11

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Keywords

  • Autonomous systems
  • Code reuse
  • Component-based systems
  • Model-based design
  • Multicore

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Information Systems

Cite this

Sprinkle, J., & Eames, B. (2011). On the mitigation of multicore-induced behavioral deviations of an autonomous ground vehicle. In Proceedings - 18th IEEE International Conference and Workshops on Engineering of Computer-Based Systems, ECBS 2011 (pp. 159-168). [5934816] https://doi.org/10.1109/ECBS.2011.29