{"created":"2025-01-19T01:12:59.011173+00:00","updated":"2025-01-19T17:39:11.229633+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00211863","sets":["1164:1867:10528:10627"]},"path":["10627"],"owner":"44499","recid":"211863","title":["Many-coreにおけるMulti-SLAMに向けたROSのNodeの割当手法の検討"],"pubdate":{"attribute_name":"公開日","attribute_value":"2021-07-13"},"_buckets":{"deposit":"2a08acbb-12a9-4b2a-96e4-14ddabe6aa73"},"_deposit":{"id":"211863","pid":{"type":"depid","value":"211863","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"Many-coreにおけるMulti-SLAMに向けたROSのNodeの割当手法の検討","author_link":["539109","539108","539107","539110"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Many-coreにおけるMulti-SLAMに向けたROSのNodeの割当手法の検討"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"永続メモリ・並列分散","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2021-07-13","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"芝浦工業大学"},{"subitem_text_value":"東海大学"},{"subitem_text_value":"株式会社Ales"},{"subitem_text_value":"芝浦工業大学"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/211863/files/IPSJ-OS21153005.pdf","label":"IPSJ-OS21153005.pdf"},"date":[{"dateType":"Available","dateValue":"2023-07-13"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-OS21153005.pdf","filesize":[{"value":"812.8 kB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"11"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"14bcdd74-0fe0-4b2a-ab28-f32aa5044528","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2021 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"福井, 誠人"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"石綿, 陽一"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"大川, 猛"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"菅谷, みどり"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN10444176","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-8795","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"Society5.0 では，複数台の自律移動ロボットによるサービスの普及が期待される．自律走行ロボットでは SLAM (Simultaneous Localization and Mapping) 技術による周辺地図の生成が必須であるが，処理負荷が高く，これを近距離で支援するために高性能なエッジサーバを配置することが期待されている．一般的に SLAM の実装は，移動距離推定や地図作成などの複数のソフトウェアプロセスにより構成される．このことからエッジサーバに Many-core プロセッサを用いることで効率的に複数台のロボットの SLAM を支援できると考えられる．しかし，Many-core プロセッサをエッジサーバに活用した場合の有効性は明らかではない．そこで，本研究では，SLAM を主なアプリケーションとした場合 Many-core プロセッサの活用を検討する．活用にあたり，汎用的な仕組みを目指し，SLAM のベースとなるミドルウェアである ROS (Robot Operating System) 単位での割り当てを検討した．ROS はプロセスを Node として位置透過的に CPU に配置できる一方，非同期分散であることから，Node の実行時間の取得が困難である．本研究は，ROS の Node の実行時間の正確な計測に基づく Many-core への処理割り当てを目的とする．そのためまず，ROS 上で Node の実行時間を正確に計測するツールを設計実装した．次に，その結果に基づいた割り当てを実施した．その結果，ROS Node 正確な計測が実現でき，さらにキャッシュを考慮して ROS Node をプロセッサに適切に割り当てることで，1.6% の実行性能の向上を実現した．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"9","bibliographic_titles":[{"bibliographic_title":"研究報告システムソフトウェアとオペレーティング・システム（OS）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2021-07-13","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"5","bibliographicVolumeNumber":"2021-OS-153"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":211863,"links":{}}