Interconnected performance optimization in complex robotic systems

Abstract

Abstract-The overall performance of a robotic system is commonly expressed by a single scenario-specific metric which is supposed to be optimized. However, the metric describing the performance of a single subtask within a scenario may be different. Nevertheless, the scenario performance is most likely dependent on the subtask performances but a mutual transformation is not straightforward in general, especially in complex robotic systems. This leads to what we call the common pricing problem, i.e. the problem to determine the functional relationship among a set of different performance criteria and then account for this relationship in the various optimizations throughout all system layers. In this paper we present an approach to first learn a probabilistic model of the metric interdependencies, and thereafter utilize this model for performance estimation and optimal task parameterization during planning and execution respectively. The proposed method is validated in a simulation.

A Survey of Quantitative Team Performance Metrics For Human-Robot Collaboration

“…There has been significant effort in an attempt to make weightings selection more objective, but this is still a very new field. Rohrmuller 55 presented a quantitative method to map the probabilistic interdependencies between individual performance metrics, and use them and their provided data to determine relationships between the metrics, and to compile them into a composite score that could be used to predict system performance and optimize performance parameters.…”

System interdependence analysis for autonomous robots

“…Section 3.4 gives a brief description of how this can be achieved. However, a more detailed discussion is beyond the scope of this article but can be found in Rohrmüller et al (2010).…”

“…In Rohrmüller et al (2010) the analysis is applied to a set composed of scenario-specific costs, task-specific costs and task-specific parameters. The identified metric interdependencies are utilized to estimate the scenario-specific cost of a task, which is required by planning components to reason about which action to perform next.…”