BORA: a bag optimizer for robotic analysis

doi:10.1109/SC41405.2020.00016

	BORA: a bag optimizer for robotic analysis
	Jian Zhang1 ; Tao Xie 2; Yuzhuo Jing1 ; Yanjie Song1 ; Guanzhou Hu1 ; Si Chen 3; Shu Yin1
	2020-11
会议录名称	SC '20: PROCEEDINGS OF THE INTERNATIONAL CONFERENCE FOR HIGH PERFORMANCE COMPUTING NETWORKING, STORAGE AND ANALYSIS
发表状态	已发表
DOI	10.1109/SC41405.2020.00016
摘要	We present BORA (Bag Optimizer for Robotic Analysis), a file system middleware that optimizes the acquisition of bags, which are specially formatted files used to store timestamped ROS (robot operating system) messages. BORA sits between ROS and an existing file system to conduct semantic-aware data pre-processing. In particular, it categorizes ROS bag data into multiple groups with each having a distinct label. BORA predigests data index constructions and reduces file open time via a hash-based label management scheme. It is also capable of providing ROS analytic applications with only data needed without a sequence of data searching and locating operations. We implement a BORA prototype, which is then integrated into three computing platforms: a single-node server, a four-node PVFS storage cluster, and a Tianhe-1A Supercomputer storage subsystem. Next, we evaluate the BORA prototype on the three platforms using four real-world ROS applications. Our experimental results show that compared to a traditional bag management scheme BORA improves data acquisition performance by up to 11x. In addition, it offers up to 10x data acquisition performance improvement and 3,100x bags open improvement under a swarm robotics data analysis scenario where data is retrieved across multiple bags simultaneously.
关键词	Data analysis File systems Software algorithms Data acquisition Prototypes Robot sensing systems Middleware
会议地点	Atlanta, GA, USA
会议日期	9-19 Nov. 2020
URL	查看原文
收录类别	CPCI ; CPCI-S ; EI
来源库	IEEE
引用统计
文献类型	会议论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/124558
专题	信息科学与技术学院_本科生信息科学与技术学院_PI研究组_殷树组信息科学与技术学院_硕士生信息科学与技术学院_博士生
作者单位	1.School of Information Science and Technology, ShanghaiTech University, Shanghai, China 2.Department of Computer Science, San Diego State University, CA, USA 3.Department of Computer Science, West Chester University, PA, USA
第一作者单位	信息科学与技术学院
第一作者的第一单位	信息科学与技术学院
推荐引用方式 GB/T 7714	Jian Zhang,Tao Xie,Yuzhuo Jing,et al. BORA: a bag optimizer for robotic analysis[C],2020.