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DTSTAMP:20210402T160047Z
LOCATION:Track 5
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UID:submissions.supercomputing.org_SC20_sess169_pap396@linklings.com
SUMMARY:BORA: A Bag Optimizer for Robotic Analysis
DESCRIPTION:Paper\n\nBORA: A Bag Optimizer for Robotic Analysis\n\nZhang, 
 Xie, Jing, Song, Hu...\n\nWe present BORA, a file system middleware that o
 ptimizes the acquisition of bags, which are the robotic operating system (
 ROS) formatted files. BORA sits between ROS and an existing file system to
  conduct semantic-aware data pre-processing. It categorizes bag data into 
 groups with each having a distinct label. BORA predigests data index const
 ructions and reduces file open time via a hash-based label management sche
 me. We implement a BORA prototype and then integrate it into a single-node
  server, a four-node PVFS storage cluster and a production cluster. Next, 
 we evaluate the BORA prototype using four real-world ROS applications. Exp
 erimental results show that compared to a traditional bag management schem
 e, a BORA-assisted file system improves data acquisition performance by up
  to 11x. It also offers up to 10x data acquisition performance improvement
  and 3100x bags open improvement under a swarm robotics data analysis scen
 ario where data is retrieved across multiple bags simultaneously.\n\nTag: 
 Algorithms, File Systems and I/O, Storage\n\nRegistration Category: Tech P
 rogram Reg Pass
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