{"id":"https://openalex.org/W2527407729","doi":"https://doi.org/10.1109/iros.2016.7759347","title":"Automatic configuration of ROS applications for near-optimal performance","display_name":"Automatic configuration of ROS applications for near-optimal performance","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2527407729","doi":"https://doi.org/10.1109/iros.2016.7759347","mag":"2527407729"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759347","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759347","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/en/publications/37563eee-3804-4316-bbf8-8875a9fcab41","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008501980","display_name":"Jos\u00e9 Cano","orcid":"https://orcid.org/0000-0002-2243-389X"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jose Cano","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020251144","display_name":"Alejandro Bordallo","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alejandro Bordallo","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056071760","display_name":"Vijay Nagarajan","orcid":"https://orcid.org/0009-0000-5045-4754"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Vijay Nagarajan","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071122608","display_name":"Subramanian Ramamoorthy","orcid":"https://orcid.org/0000-0002-6300-5103"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Subramanian Ramamoorthy","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["School of Informatics, The University of Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, The University of Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2217","last_page":"2223"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12127","display_name":"Software System Performance and Reliability","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12127","display_name":"Software System Performance and Reliability","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10101","display_name":"Cloud Computing and Resource Management","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10054","display_name":"Parallel Computing and Optimization Techniques","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/knapsack-problem","display_name":"Knapsack problem","score":0.8176764249801636},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7546641826629639},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.7409598231315613},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5388917326927185},{"id":"https://openalex.org/keywords/greedy-algorithm","display_name":"Greedy algorithm","score":0.5172203779220581},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5156627893447876},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.505582332611084},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4756869077682495},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.41151151061058044},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3711887300014496},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.24981755018234253},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14254853129386902},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07358720898628235}],"concepts":[{"id":"https://openalex.org/C113138325","wikidata":"https://www.wikidata.org/wiki/Q864457","display_name":"Knapsack problem","level":2,"score":0.8176764249801636},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7546641826629639},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.7409598231315613},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5388917326927185},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.5172203779220581},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5156627893447876},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.505582332611084},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4756869077682495},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.41151151061058044},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3711887300014496},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.24981755018234253},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14254853129386902},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07358720898628235},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2016.7759347","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759347","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.gla.ac.uk:177444","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":false,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceedings"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/37563eee-3804-4316-bbf8-8875a9fcab41","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/37563eee-3804-4316-bbf8-8875a9fcab41","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Cano Reyes, J, Bordallo, A, Nagarajan, V, Ramamoorthy, S & Vijayakumar, S 2016, Automatic configuration of ROS applications for near-optimal performance. in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016. Institute of Electrical and Electronics Engineers, Daejeon, South Korea, pp. 2177-2183, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, Republic of, 9/10/16. https://doi.org/10.1109/IROS.2016.7759347","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/37563eee-3804-4316-bbf8-8875a9fcab41","is_oa":false,"landing_page_url":"https://www.research.ed.ac.uk/portal/en/publications/automatic-configuration-of-ros-applications-for-nearoptimal-performance(37563eee-3804-4316-bbf8-8875a9fcab41).html","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/37563eee-3804-4316-bbf8-8875a9fcab41","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/37563eee-3804-4316-bbf8-8875a9fcab41","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Cano Reyes, J, Bordallo, A, Nagarajan, V, Ramamoorthy, S & Vijayakumar, S 2016, Automatic configuration of ROS applications for near-optimal performance. in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016. Institute of Electrical and Electronics Engineers, Daejeon, South Korea, pp. 2177-2183, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, Republic of, 9/10/16. https://doi.org/10.1109/IROS.2016.7759347","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4917891107","display_name":null,"funder_award_id":"EP/L000725/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2092921","https://openalex.org/W100464641","https://openalex.org/W652265168","https://openalex.org/W1531253382","https://openalex.org/W1583214091","https://openalex.org/W1897518114","https://openalex.org/W1972391046","https://openalex.org/W1989179252","https://openalex.org/W2020313791","https://openalex.org/W2033087107","https://openalex.org/W2036853599","https://openalex.org/W2066671865","https://openalex.org/W2083686335","https://openalex.org/W2096440680","https://openalex.org/W2100720708","https://openalex.org/W2157488300","https://openalex.org/W2164575269","https://openalex.org/W2210428523","https://openalex.org/W2293292238","https://openalex.org/W2411689113","https://openalex.org/W2901136733","https://openalex.org/W4214625488","https://openalex.org/W4236127247","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2357796514","https://openalex.org/W2393014972","https://openalex.org/W2357595179","https://openalex.org/W2351136238","https://openalex.org/W2891162720","https://openalex.org/W3171554204","https://openalex.org/W3199776955","https://openalex.org/W2169800510","https://openalex.org/W2167807475","https://openalex.org/W3112089036"],"abstract_inverted_index":{"The":[0],"performance":[1,12,34,123,155],"of":[2,9,13,33,102,124,133,166],"a":[3,7,96,99,103,110,130,147],"ROS":[4,18,38,62,127,149],"application":[5],"is":[6,64],"function":[8],"the":[10,24,31,60,88,122,138,153,160],"individual":[11,126],"its":[14],"constituent":[15],"nodes.":[16],"Since":[17],"nodes":[19],"are":[20],"typically":[21],"configurable":[22],"(parameterised),":[23],"specific":[25],"parameter":[26,69,134],"values":[27,70],"adopted":[28],"will":[29],"determine":[30],"level":[32],"generated.":[35],"In":[36],"addition,":[37],"applications":[39],"may":[40],"be":[41],"distributed":[42],"across":[43],"multiple":[44,105],"computation":[45],"devices,":[46],"thus":[47],"providing":[48],"different":[49],"options":[50],"for":[51,74,81,113,120],"node":[52,72,79,128],"allocation.":[53],"We":[54,91,108,136],"address":[55],"two":[56],"configuration":[57],"problems":[58,94],"that":[59,85,152],"typical":[61],"user":[63],"confronted":[65],"with:":[66],"i)":[67],"Determining":[68,78],"and":[71,142],"allocations":[73,80],"maximising":[75],"performance;":[76],"ii)":[77],"minimising":[82],"hardware":[83],"resources":[84],"can":[86],"guarantee":[87],"desired":[89],"performance.":[90],"formalise":[92],"these":[93],"with":[95],"mathematical":[97],"model,":[98],"constrained":[100],"form":[101],"multiple-choice":[104],"knapsack":[106],"problem.":[107],"propose":[109],"greedy":[111],"algorithm":[112],"optimising":[114],"each":[115],"problem,":[116],"using":[117],"linear":[118],"regression":[119],"predicting":[121],"an":[125,164],"over":[129],"continuum":[131],"set":[132],"combinations.":[135],"evaluate":[137],"algorithms":[139],"through":[140],"simulation":[141],"we":[143],"validate":[144],"them":[145],"in":[146],"real":[148,161],"scenario,":[150],"showing":[151],"expected":[154],"levels":[156],"only":[157],"deviate":[158],"from":[159],"measurements":[162],"by":[163],"average":[165],"2.5%.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}