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Recent advances in robotics are driving real-world autonomy for long-term and large-scale missions, where loop closures via place recognition are vital for mitigating pose estimation drift. However, achieving real-time performance remains…
Regions of nested loops are a common feature of High Performance Computing (HPC) codes. In shared memory programming models, such as OpenMP, these structure are the most common source of parallelism. Parallelising these structures requires…
Large language models (LLMs) often leverage adapters, such as low-rank-based adapters, to achieve strong performance on downstream tasks. However, storing a separate adapter for each task significantly increases memory requirements, posing…
Major chip manufacturers have all introduced Multithreaded processors. These processors are used for running a variety of workloads. Efficient resource utilization is an important design aspect in such processors. Particularly, it is…
Collaborative perception (CP) is a critical technology in applications like autonomous driving and smart cities. It involves the sharing and fusion of information among sensors to overcome the limitations of individual perception, such as…
Comprehending the performance bottlenecks at the core of the intricate hardware-software interactions exhibited by highly parallel programs on HPC clusters is crucial. This paper sheds light on the issue of automatically asynchronous MPI…
The explosion of Big Data was followed by the proliferation of numerous complex parallel software stacks whose aim is to tackle the challenges of data deluge. A drawback of a such multi-layered hierarchical deployment is the inability to…
This work proposes a methodology to find performance and energy trade-offs for parallel applications running on Heterogeneous Multi-Processing systems with a single instruction-set architecture. These offer flexibility in the form of…
Multi-unit organizations are a form of organizations where the geographically dispersed units provide similar products or services in different markets. Deciding on an appropriate level of centralization in such organizations presents a…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
MapReduce framework is the de facto standard in Hadoop. Considering the data locality in data centers, the load balancing problem of map tasks is a special case of affinity scheduling problem. There is a huge body of work on affinity…
Joint object matching, also known as multi-image matching, namely, the problem of finding consistent partial maps among all pairs of objects within a collection, is a crucial task in many areas of computer vision. This problem subsumes…
Advancing research in fields such as Simultaneous Localization and Mapping (SLAM) and autonomous navigation critically depends on the availability of reliable and reproducible multimodal datasets. While several influential datasets have…
Many cloud applications rely on fast and non-relational storage to aid in the processing of large amounts of data. Managed runtimes are now widely used to support the execution of several storage solutions of the NoSQL movement,…
We describe a light-weight yet performant system for hyper-parameter optimization that approximately minimizes an overall scalar cost function that is obtained by combining multiple performance objectives using a target-priority-limit…
Current progresses in home automation and service robotic environment have highlighted the need to develop interoperability mechanisms that allow a standard communication between the two systems. During the development of the DHCompliant…
Local search is a widely used technique for tackling challenging optimization problems, offering significant advantages in terms of computational efficiency and exhibiting strong empirical behavior across a wide range of problem domains. In…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Internet of Things (IoT) has seen a prolific rise in recent times and provides the ability to solve several key challenges faced by our societies and environment. Data produced by IoT provides a significant opportunity to infer context that…
We analyze the evolution of the local simulation times (LST) in Parallel Discrete Event Simulations. The new ingredients introduced are i) we associate the LST with the nodes and not with the processing elements, and 2) we propose to…