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Conference Papers Year : 2023

Acceleration of contractor algebra on RISCV in the context of mobile robotic

Abstract

Interval arithmetic and contractor algebra are widely used in robotic as they allow to tackle recurrent tasks like localisation and parameter estimation in an efficient way. The interval community can rely on some well known software libraries (ibex, gaol, mpfi ...) which per- form accurate forward and backward contractions to solve most of the common problems. However, such libraries always revolve around the use of low-level maths and fpu functions that are inherently dependent of the compilation platform and the execution environment. This be- comes problematic in the area of mobile robotic where the code is often run on exotic embedded systems which may not support them at all or produce incorrect behaviours. This area has also its own constraints when using interval arithmetic. The precision of the computation is often less of an issue compared to being fast, guaranteed (even when pessimistic) and energy-efficient. Most interval algorithms based on contractor algebra expose some data and instruction parallelism. An hardware implementation specifically tailored for the need of mobile robotic could be a solution to deal with the aforementioned limitations.

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Dates and versions

hal-04320802 , version 1 (04-12-2023)

Identifiers

  • HAL Id : hal-04320802 , version 1

Cite

Pierre Filiol, Luc Jaulin, Jean-Christophe Le Lann, Théotime Bollengier. Acceleration of contractor algebra on RISCV in the context of mobile robotic. Summer Workshop on Interval Methods, Jun 2023, Angers, France. ⟨hal-04320802⟩
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