{"paper":{"title":"Cluster on Wheels","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Delin Feng, S\\\"oren Schwertfeger, Yuanyuan Yang","submitted_at":"2022-05-17T07:38:42Z","abstract_excerpt":"This paper presents a very compact 16-node cluster that is the core of a future robot for collecting and storing massive amounts of sensor data for research on Simultaneous Localization and Mapping (SLAM). To the best of our knowledge, this is the first time that such a cluster is used in robotics. We first present the requirements and different options for computing of such a robot and then show the hardware and software of our solution in detail. The cluster consists of 16 nodes of AMD Ryzen 7 5700U CPUs with a total of 128 cores. As a system that is to be used on a Clearpath Husky robot, it"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2205.08151","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2205.08151/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}