525 citations · 888 across the 27 of their papers we have counts for
27 papers
Systematic Comparison of Path Planning Algorithms using PathBench
Hao-Ya Hsueh, Alexandru-Iosif Toma, Hussein Ali Jaafar +4
Path planning is an essential component of mobile robotics. Classical path planning algorithms, such as wavefront and rapidly-exploring random tree (RRT) are used heavily in autono…
A Robot Web for Distributed Many-Device Localisation
Riku Murai, Joseph Ortiz, Sajad Saeedi +2
We show that a distributed network of robots or other devices which make measurements of each other can collaborate to globally localise via efficient ad-hoc peer to peer communica…
Extending the RISC-V ISA for exploring advanced reconfigurable SIMD instructions
Philippos Papaphilippou, Paul H. J. Kelly, Wayne Luk
This paper presents a novel, non-standard set of vector instruction types for exploring custom SIMD instructions in a softcore. The new types allow simultaneous access to a relativ…
PathBench: A Benchmarking Platform for Classical and Learned Path Planning Algorithms
Alexandru-Iosif Toma, Hao-Ya Hsueh, Hussein Ali Jaafar +3
Path planning is a key component in mobile robotics. A wide range of path planning algorithms exist, but few attempts have been made to benchmark the algorithms holistically or uni…
Cain: Automatic Code Generation for Simultaneous Convolutional Kernels on Focal-plane Sensor-processors
Edward Stow, Riku Murai, Sajad Saeedi +1
Focal-plane Sensor-processors (FPSPs) are a camera technology that enable low power, high frame rate computation, making them suitable for edge computation. Unfortunately, these de…
Temporal blocking of finite-difference stencil operators with sparse "off-the-grid" sources
George Bisbas, Fabio Luporini, Mathias Louboutin +3
Stencil kernels dominate a range of scientific applications, including seismic and medical imaging, image processing, and neural networks. Temporal blocking is a performance optimi…
Lossy Checkpoint Compression in Full Waveform Inversion: a case study with ZFPv0.5.5 and the Overthrust Model
Navjot Kukreja, Jan Hueckelheim, Mathias Louboutin +3
This paper proposes a new method that combines check-pointing methods with error-controlled lossy compression for large-scale high-performance Full-Waveform Inversion (FWI), an inv…
AnalogNet: Convolutional Neural Network Inference on Analog Focal Plane Sensor Processors
Matthew Z. Wong, Benoit Guillard, Riku Murai +2
We present a high-speed, energy-efficient Convolutional Neural Network (CNN) architecture utilising the capabilities of a unique class of devices known as analog Focal Plane Sensor…
BIT-VO: Visual Odometry at 300 FPS using Binary Features from the Focal Plane
Riku Murai, Sajad Saeedi, Paul H. J. Kelly
Focal-plane Sensor-processor (FPSP) is a next-generation camera technology which enables every pixel on the sensor chip to perform computation in parallel, on the focal plane where…
Scalable Uncertainty for Computer Vision with Functional Variational Inference
Eduardo D C Carvalho, Ronald Clark, Andrea Nicastro +1
As Deep Learning continues to yield successful applications in Computer Vision, the ability to quantify all forms of uncertainty is a paramount requirement for its safe and reliabl…
Pangloss: a novel Markov chain prefetcher
Philippos Papaphilippou, Paul H. J. Kelly, Wayne Luk
We present Pangloss, an efficient high-performance data prefetcher that approximates a Markov chain on delta transitions. With a limited information scope and space/logic complexit…
A study of vectorization for matrix-free finite element methods
Tianjiao Sun, Lawrence Mitchell, Kaushik Kulkarni +3
Vectorization is increasingly important to achieve high performance on modern hardware with SIMD instructions. Assembly of matrices and vectors in the finite element method, which…
SLAMBench2: Multi-Objective Head-to-Head Benchmarking for Visual SLAM
Bruno Bodin, Harry Wagstaff, Sajad Saeedi +9
SLAM is becoming a key component of robotics and augmented reality (AR) systems. While a large number of SLAM algorithms have been presented, there has been little effort to unify…
Architecture and performance of Devito, a system for automated stencil computation
Fabio Luporini, Michael Lange, Mathias Louboutin +7
Stencil computations are a key part of many high-performance computing applications, such as image processing, convolutional neural networks, and finite-difference solvers for part…
Automated Tiling of Unstructured Mesh Computations with Application to Seismological Modelling
Fabio Luporini, Michael Lange, Christian T. Jacobs +3
Sparse tiling is a technique to fuse loops that access common data, thus increasing data locality. Unlike traditional loop fusion or blocking, the loops may have different iteratio…
Algorithmic Performance-Accuracy Trade-off in 3D Vision Applications Using HyperMapper
Luigi Nardi, Bruno Bodin, Sajad Saeedi +3
In this paper we investigate an emerging application, 3D scene understanding, likely to be significant in the mobile space in the near future. The goal of this exploration is to re…
An algorithm for the optimization of finite element integration loops
Fabio Luporini, David A. Ham, Paul H. J. Kelly
We present an algorithm for the optimization of a class of finite element integration loop nests. This algorithm, which exploits fundamental mathematical properties of finite eleme…
A structure-exploiting numbering algorithm for finite elements on extruded meshes, and its performance evaluation in Firedrake
Gheorghe-Teodor Bercea, Andrew T. T. McRae, David A. Ham +5
We present a generic algorithm for numbering and then efficiently iterating over the data values attached to an extruded mesh. An extruded mesh is formed by replicating an existing…
Thread Parallelism for Highly Irregular Computation in Anisotropic Mesh Adaptation
Georgios Rokos, Gerard J. Gorman, Kristian Ejlebjerg Jensen +1
Thread-level parallelism in irregular applications with mutable data dependencies presents challenges because the underlying data is extensively modified during execution of the al…
An Interrupt-Driven Work-Sharing For-Loop Scheduler
Georgios Rokos, Gerard J. Gorman, Paul H. J. Kelly
In this paper we present a parallel for-loop scheduler which is based on work-stealing principles but runs under a completely cooperative scheme. POSIX signals are used by idle thr…
A Fast and Scalable Graph Coloring Algorithm for Multi-core and Many-core Architectures
Georgios Rokos, Gerard Gorman, Paul H J Kelly
Irregular computations on unstructured data are an important class of problems for parallel programming. Graph coloring is often an important preprocessing step, e.g. as a way to p…
Firedrake: automating the finite element method by composing abstractions
Florian Rathgeber, David A. Ham, Lawrence Mitchell +6
Firedrake is a new tool for automating the numerical solution of partial differential equations. Firedrake adopts the domain-specific language for the finite element method of the…
Introducing SLAMBench, a performance and accuracy benchmarking methodology for SLAM
Luigi Nardi, Bruno Bodin, M. Zeeshan Zia +9
Real-time dense computer vision and SLAM offer great potential for a new level of scene modelling, tracking and real environmental interaction for many types of robot, but their hi…
COFFEE: an Optimizing Compiler for Finite Element Local Assembly
Fabio Luporini, Ana Lucia Varbanescu, Florian Rathgeber +4
The numerical solution of partial differential equations using the finite element method is one of the key applications of high performance computing. Local assembly is its charact…