{"id":"https://openalex.org/W3130517342","doi":"https://doi.org/10.1109/iscas51556.2021.9401154","title":"Robustifying the Deployment of tinyML Models for Autonomous Mini-Vehicles","display_name":"Robustifying the Deployment of tinyML Models for Autonomous Mini-Vehicles","publication_year":2021,"publication_date":"2021-04-27","ids":{"openalex":"https://openalex.org/W3130517342","doi":"https://doi.org/10.1109/iscas51556.2021.9401154","mag":"3130517342"},"language":"en","primary_location":{"id":"doi:10.1109/iscas51556.2021.9401154","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iscas51556.2021.9401154","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Symposium on Circuits and Systems (ISCAS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2007.00302","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039374801","display_name":"Miguel de Prado","orcid":"https://orcid.org/0000-0003-4350-1617"},"institutions":[{"id":"https://openalex.org/I4210119508","display_name":"HES-SO Arc","ror":"https://ror.org/02zzkv309","country_code":"CH","type":"education","lineage":["https://openalex.org/I173439891","https://openalex.org/I4210119508"]},{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["CH","IT"],"is_corresponding":true,"raw_author_name":"Miguel de Prado","raw_affiliation_strings":["DEI, University of Bologna","He-Arc Ingenierie, HES-SO"],"affiliations":[{"raw_affiliation_string":"DEI, University of Bologna","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"He-Arc Ingenierie, HES-SO","institution_ids":["https://openalex.org/I4210119508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030025275","display_name":"Manuele Rusci","orcid":"https://orcid.org/0000-0001-7458-4019"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manuele Rusci","raw_affiliation_strings":["DEI, University of Bologna"],"affiliations":[{"raw_affiliation_string":"DEI, University of Bologna","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036620655","display_name":"Romain Donze","orcid":null},"institutions":[{"id":"https://openalex.org/I4210119508","display_name":"HES-SO Arc","ror":"https://ror.org/02zzkv309","country_code":"CH","type":"education","lineage":["https://openalex.org/I173439891","https://openalex.org/I4210119508"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Romain Donze","raw_affiliation_strings":["He-Arc Ingenierie, HES-SO"],"affiliations":[{"raw_affiliation_string":"He-Arc Ingenierie, HES-SO","institution_ids":["https://openalex.org/I4210119508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023224638","display_name":"Alessandro Capotondi","orcid":"https://orcid.org/0000-0001-8705-0761"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alessandro Capotondi","raw_affiliation_strings":["UNIMORE"],"affiliations":[{"raw_affiliation_string":"UNIMORE","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033342907","display_name":"Serge Monnerat","orcid":null},"institutions":[{"id":"https://openalex.org/I4210119508","display_name":"HES-SO Arc","ror":"https://ror.org/02zzkv309","country_code":"CH","type":"education","lineage":["https://openalex.org/I173439891","https://openalex.org/I4210119508"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Serge Monnerat","raw_affiliation_strings":["He-Arc Ingenierie, HES-SO"],"affiliations":[{"raw_affiliation_string":"He-Arc Ingenierie, HES-SO","institution_ids":["https://openalex.org/I4210119508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043408422","display_name":"Luca Benini","orcid":"https://orcid.org/0000-0001-8068-3806"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH","IT"],"is_corresponding":false,"raw_author_name":"Luca Benini","raw_affiliation_strings":["DEI, University of Bologna","Integrated System Lab, ETH Zurich"],"affiliations":[{"raw_affiliation_string":"DEI, University of Bologna","institution_ids":["https://openalex.org/I9360294"]},{"raw_affiliation_string":"Integrated System Lab, ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028033266","display_name":"Nuria Pazos","orcid":null},"institutions":[{"id":"https://openalex.org/I4210119508","display_name":"HES-SO Arc","ror":"https://ror.org/02zzkv309","country_code":"CH","type":"education","lineage":["https://openalex.org/I173439891","https://openalex.org/I4210119508"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Nuria Pazos","raw_affiliation_strings":["He-Arc Ingenierie, HES-SO"],"affiliations":[{"raw_affiliation_string":"He-Arc Ingenierie, HES-SO","institution_ids":["https://openalex.org/I4210119508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5039374801"],"corresponding_institution_ids":["https://openalex.org/I4210119508","https://openalex.org/I9360294"],"apc_list":null,"apc_paid":null,"fwci":0.4855,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.63502989,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10036","display_name":"Advanced Neural Network Applications","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6909520626068115},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6172186136245728},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5338201522827148},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4853178858757019},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.47625732421875},{"id":"https://openalex.org/keywords/python","display_name":"Python (programming language)","score":0.4514462351799011},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4428979158401489},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4242514967918396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3593648076057434},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.21724086999893188}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6909520626068115},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6172186136245728},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5338201522827148},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4853178858757019},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.47625732421875},{"id":"https://openalex.org/C519991488","wikidata":"https://www.wikidata.org/wiki/Q28865","display_name":"Python (programming language)","level":2,"score":0.4514462351799011},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4428979158401489},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4242514967918396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3593648076057434},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.21724086999893188},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iscas51556.2021.9401154","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iscas51556.2021.9401154","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Symposium on Circuits and Systems (ISCAS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2007.00302","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.00302","pdf_url":"https://arxiv.org/pdf/2007.00302","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:cris.unibo.it:11585/869384","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/869384","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:iris.unimore.it:11380/1280828","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/1280828","pdf_url":null,"source":{"id":"https://openalex.org/S4377196326","display_name":"Iris Unimore (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2007.00302","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.00302","pdf_url":"https://arxiv.org/pdf/2007.00302","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.8600000143051147,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2167224731","https://openalex.org/W2611430843","https://openalex.org/W2769912137","https://openalex.org/W2784372305","https://openalex.org/W2806163172","https://openalex.org/W2868611809","https://openalex.org/W2889339831","https://openalex.org/W2893813411","https://openalex.org/W2899625887","https://openalex.org/W2909953480","https://openalex.org/W2914283047","https://openalex.org/W2943723147","https://openalex.org/W2947515409","https://openalex.org/W2950027350","https://openalex.org/W2954443761","https://openalex.org/W2995697759","https://openalex.org/W3000280594","https://openalex.org/W3011347095","https://openalex.org/W3098490553","https://openalex.org/W3103292482","https://openalex.org/W4288346093","https://openalex.org/W4300172425","https://openalex.org/W6684338915","https://openalex.org/W6737454590","https://openalex.org/W6746451879","https://openalex.org/W6747876305","https://openalex.org/W6762754082","https://openalex.org/W6763749723","https://openalex.org/W6765517876","https://openalex.org/W6771526961","https://openalex.org/W6774875199","https://openalex.org/W6785886723"],"related_works":["https://openalex.org/W2770234245","https://openalex.org/W96612179","https://openalex.org/W2341492732","https://openalex.org/W3187193180","https://openalex.org/W106542691","https://openalex.org/W4229499248","https://openalex.org/W4287027380","https://openalex.org/W1699080303","https://openalex.org/W2566006169","https://openalex.org/W2768698792"],"abstract_inverted_index":{"Standard-size":[0],"autonomous":[1,16,43],"navigation":[2],"vehicles":[3],"have":[4],"rapidly":[5],"improved":[6],"thanks":[7],"to":[8,18,61,87,95,111],"the":[9,48,63,69,79,82,113,118,130,137,143],"breakthroughs":[10],"of":[11,56,120],"deep":[12],"learning.":[13],"However,":[14],"scaling":[15],"driving":[17,44],"low-power":[19],"systems":[20],"deployed":[21],"on":[22,129],"dynamic":[23],"environments":[24],"poses":[25],"several":[26],"challenges":[27],"that":[28,46],"prevent":[29],"their":[30],"adoption.":[31],"To":[32],"address":[33],"them,":[34],"we":[35,103],"propose":[36],"a":[37,54,74,106],"closed-":[38],"loop":[39],"learning":[40],"flow":[41],"for":[42],"mini-vehicles":[45],"includes":[47],"target":[49,70],"environment":[50,71],"in-the-loop.":[51],"We":[52],"leverage":[53,104],"family":[55,119],"compact":[57],"and":[58,98,132,142],"high-throughput":[59],"tinyCNNs":[60],"control":[62],"mini-":[64],"vehicle,":[65],"which":[66],"learn":[67],"in":[68],"by":[72,139,146],"imitating":[73],"computer":[75],"vision":[76],"algorithm,":[77],"i.e.,":[78],"expert.":[80],"Thus,":[81],"tinyCNNs,":[83],"having":[84],"only":[85],"access":[86],"an":[88],"on-board":[89],"fast-rate":[90],"linear":[91],"camera,":[92],"gain":[93],"robustness":[94],"lighting":[96],"conditions":[97],"improve":[99],"over":[100,140],"time.":[101],"Further,":[102],"GAP8,":[105],"parallel":[107],"ultra-low-power":[108],"RISC-V":[109],"SoC,":[110],"meet":[112],"inference":[114],"requirements.":[115],"When":[116],"running":[117],"CNNs,":[121],"our":[122],"GAP8's":[123],"solution":[124],"outperforms":[125],"any":[126],"other":[127],"implementation":[128],"STM32L4":[131],"NXP":[133],"k64f":[134],"(Cortex-M4),":[135],"reducing":[136],"latency":[138],"13x":[141],"energy":[144],"consummation":[145],"92%.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2021-03-01T00:00:00"}
