Autonomous agent task priority scheduling
Task priority scheduling and resource allocation of autonomous agents are described. The scheduling may utilize sensor data characteristics to facilitate scheduling decisions. Also described is the refinement of task priority scheduling utilizing fleet management information-based scene and environment information, such as by using information available to the fleet management controller.
1 . An apparatus configured to operate in an environment, the apparatus comprising:
an interface configured to receive sensor data; and
processing circuitry that is configured to:
localize an object based on the sensor data to determine localization data;
determine a priority list for scheduling processing of the localization data of the localized object based on the localization data and a priority policy, the priority list including a priority for processing the localization data of the object by the processing circuitry;
control the apparatus to implement a processing schedule for processing of the localization data of the object based on the priority list; and
receive updates to the priority policy from an external computing device, the priority policy being updated based on a local priority list for scheduling sensor data processing associated with one or more of a plurality of agents operating within the environment.
2 . The apparatus of claim 1 , wherein, to localize the object, the processing circuitry is configured to:
generate a point cloud of the object based on the sensor data;
determine a bounding box of the object based on the point cloud;
determine coordinates of the object based on the point cloud; and
determine a distance to the object based on the determined coordinates,
wherein the localization data is determined based on the bounding box, the coordinates, or the distance.
3 . The apparatus of claim 2 , wherein the processing circuitry is configured to determine three dimensions of the bounding box.
4 . The apparatus of claim 2 , wherein determining coordinates of the object comprises determining a centroid of the object.
5 . The apparatus of claim 1 , wherein the priority list associates the priority in which the localization data of the object is to be processed with the corresponding localization data of the object.
6 . The apparatus of claim 1 , wherein the localization data comprises coordinates of the object, a distance to the object, or a bounding box of the object.
7 . The apparatus of claim 1 , wherein the processing circuitry is further configured to process the sensor data for the localized object according to the processing schedule to classify the object.
8 . The apparatus of claim 1 , wherein the processing circuitry is further configured to provide the priority list to the external computing device and to further update the priority list based on a request received from the external computing device.
9 . The apparatus of claim 1 , wherein the processing circuitry is further configured to update the priority list based on external information received by the apparatus.
10 . The apparatus of claim 9 , wherein the external information comprises:
sensor data from one or more external sensors or data from another device sharing an environment of the apparatus.
11 . The apparatus of claim 1 , wherein the apparatus is a controller of an autonomous agent.
12 . An apparatus configured to operate in an environment, the apparatus comprising:
processing circuitry configured to:
detect an object based on sensor data and to generate object information corresponding to the object; and
determine a priority list for scheduling processing of the object information of the detected object based on a priority policy and the object information, the priority list including a priority for processing the object information of the object by the processing circuitry,
wherein the apparatus is controlled to implement a processing schedule for processing of the object information of the object based on the priority list; and
receive updates to the priority policy from an external computing device, the priority policy being updated based on a local priority list for scheduling sensor data processing associated with one or more of a plurality of agents operating within the environment.
13 . The apparatus of claim 12 , wherein the processing circuitry is configured to:
generate a point cloud of the object based on the sensor data;
determine a bounding box of the object based on the point cloud;
determine coordinates of the object based on the point cloud, and determine a distance to the object based on the determined coordinates; and
generate the object information based on the bounding box, the coordinates, or the distance.
14 . The apparatus of claim 13 , wherein the processing circuitry is configured to generate the object information based on the bounding box, the coordinates, and the distance.
15 . The apparatus of claim 13 , wherein the processing circuitry is configured to determine three dimensions of the bounding box.
16 . The apparatus of claim 13 , wherein the coordinates of the object comprise a centroid of the object.
17 . The apparatus of claim 12 , wherein the priority list associates the priority in which the object information of the object is to be processed with the corresponding object information of the object.
18 . The apparatus of claim 12 , wherein the object information comprises a bounding box of the object, coordinates of the object, or a distance from the apparatus to the object.
19 . The apparatus of claim 12 , wherein the processing circuitry is further configured to process the sensor data for the object according to the processing schedule to classify the object.
20 . The apparatus of claim 12 , wherein the processing circuitry is further configured to provide the priority list to the external computing device and to further update the priority list based on a request from the external computing device.
21 . An apparatus configured to operate in an environment, the apparatus comprising:
interface means for receiving sensor data; and
processing means for:
localizing an object based on the sensor data to determine localization data;
determining a priority list for scheduling processing of the localization data of the localized object based on the localization data and a priority policy, the priority list including a priority for processing the localization data of the object by the processing means;
controlling the apparatus to implement a processing schedule for processing of the localization data of the object based on the priority list; and
receiving updates to the priority policy from an external computing device, the priority policy being updated based on a local priority list for scheduling sensor data processing associated with one or more of a plurality of agents operating within the environment.
22 . The apparatus of claim 21 , wherein, to localize the object, the processing means is configured to:
generate a point cloud of the object based on the sensor data;
determine a bounding box of the object based on the point cloud;
determine coordinates of the object based on the point cloud; and
determine a distance to the object based on the determined coordinates,
wherein the localization data is determined based on the bounding box, the coordinates, and/or the distance.
23 . The apparatus of claim 21 , wherein the priority list associates the priority in which the localization data of the object is to be processed with the corresponding localization data of the object.
24 . A non-transitory computer-readable medium having instructions stored thereon that, when executed by processing circuitry of an apparatus configured to operate in an environment, cause the processing circuitry to:
localize an object based on sensor data to determine localization data;
determine a priority list for scheduling processing of the localization data of the localized object based on the localization data and a priority policy, the priority list including a priority for processing the localization data of the object;
control the apparatus to implement a processing schedule for processing of the localization data of the object based on the priority list; and
receive updates to the priority policy from an external computing device, the priority policy being updated based on a local priority list for scheduling sensor data processing associated with one or more of a plurality of agents operating within the environment.
25 . The non-transitory computer-readable storage medium of claim 24 , wherein, localizing the object comprises:
generating a point cloud of the object based on the sensor data;
determining a bounding box of the object based on the point cloud;
determining coordinates of the object based on the point cloud; and
determining a distance to the object based on the determined coordinates,
wherein the localization data is determined based on the bounding box, the coordinates, or the distance.