Peter Stone's Selected Publications

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CC-Log: Drastically Reducing Storage Requirements for Robots Using Classification and Compression

Santiago Gonzalez, Vijay Chidambaram, Jivko Sinapov, and Peter Stone. CC-Log: Drastically Reducing Storage Requirements for Robots Using Classification and Compression. In Proceedings of the 9th USENIX Workshop on Hot Topics in Storage and File Systems (HotStorage '17), July 2017.

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Abstract

Modern robots collect a wealth of rich sensor data during their operation. While such data allows interesting analysis and sophisticated algorithms, it is simply infeasible to store all the data that is generated. However, collecting only samples of the data greatly minimizes the usefulness of the data. We present CC-LOG, a new logging system built on top of the widely-used Robot Operating System that uses a combination of classification and compression techniques to reduce storage requirements. Experiments using the Building-Wide Intelligence Robot, a mobile autonomous mobile platform capable of operat-ing for long periods of time in human-inhabited environments, showed that our proposed system can reduce storage requirements by more than an order of magnitude. Our results indicate that there is significant unrealized potential in optimizing infrastructure commonly used in robotics applications and research

BibTeX Entry

@InProceedings{HotStorage2017-Gonzales,
  author = {Santiago Gonzalez and Vijay Chidambaram and Jivko Sinapov and Peter Stone},
  title = {CC-Log: Drastically Reducing Storage Requirements for Robots Using Classification and Compression},
  booktitle = {Proceedings of the 9th USENIX Workshop on Hot Topics in Storage and File Systems (HotStorage '17)},
  location = {Santa Clara, CA},
  month = {July},
  year = {2017},
  abstract = {
    Modern robots collect a wealth of rich sensor data during their operation.
    While such data allows interesting analysis and sophisticated algorithms,
    it is simply infeasible to store all the data that is generated. However,
    collecting only samples of the data greatly minimizes the usefulness of the
    data. We present CC-LOG, a new logging system built on top of the
    widely-used Robot  Operating  System that uses a combination of
    classification and compression techniques to reduce storage requirements.
    Experiments using the Building-Wide Intelligence Robot, a mobile autonomous
    mobile platform capable of operat-ing for long periods of time in
    human-inhabited environments, showed that our proposed system can reduce
    storage requirements by more than an order of magnitude. Our results
    indicate that there is significant unrealized potential in optimizing
    infrastructure commonly used in robotics applications and research
  },
}

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