A Case Study on the Performance of Gazebo with Multi-core CPUs

被引：2

作者：

Yang, Hai ^{[1
]}

Wang, Xuefei ^{[1
]}

机构：

[1] Natl Univ Def Technol, Sch Comp, State Key Lab High Performance Comp, Changsha 410073, Hunan, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT I | 2017年 / 10462卷

关键词：

Hotspots analyze; Case study; Gazebo;

D O I：

10.1007/978-3-319-65289-4_63

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Gazebo has become a popular platform for the simulation of robots and their working environment. However, it is inefficient as the number of robots increases or when the environment becomes more complex. In this paper, we investigate the program hotspot (the most time consuming program units) of two typical cases using the Intel VTune Amplifier. The results show that the simulation time increases quadratically with respect to the number of robots in the swarm robots scenario, and increases linearly as the complexity of environment becomes higher in the large-scale campus scenario.

引用

页码：671 / 682

页数：12

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