ConfigBot: Adaptive Resource Allocation for Robot Applications in Dynamic Environments

The growing use of service robots in dynamic environments requires flexible management of on-board compute resources to optimize the performance of diverse tasks such as navigation, localization, and perception. Current robot deployments often rely on static OS configurations and system over-provisioning. However, they are suboptimal because they ignore variations in resource usage, leading to system-wide issues like robot instability or inefficient resource utilization. This paper presents ConfigBot, a novel system designed to adaptively reconfigure robot applications to meet a predefined performance specification by leveraging runtime profiling and automated configuration tuning. Through experiments on multiple real robots, each running a different stack with diverse performance requirements, which could be context-dependent, we illustrate ConfigBot's efficacy in maintaining system stability and optimizing resource allocation. Our findings highlight the promise of automatic system configuration tuning for robot deployments, including adaptation to dynamic changes. Code available at: https://github.com/ldos-project/configbot