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Generation of a Reconfigurable Probabilistic Decision-Making Engine based on Decision Networks: UAV Case Study (Interactive Presentation)

Authors Sara Zermani , Catherine Dezan

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Author Details

Sara Zermani
  • Université de Guyane, Espace-Dev, UMR 228, Cayenne, France
Catherine Dezan
  • Université de Brest, Lab-STICC, CNRS, UMR 6285, Brest, France

Funding

This work is supported by CNRS fundings through the PICS project SWARMS.

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Sara Zermani and Catherine Dezan. Generation of a Reconfigurable Probabilistic Decision-Making Engine based on Decision Networks: UAV Case Study (Interactive Presentation). In Workshop on Autonomous Systems Design (ASD 2019). Open Access Series in Informatics (OASIcs), Volume 68, pp. 9:1-9:14, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)
https://doi.org/10.4230/OASIcs.ASD.2019.9

Abstract

Making decisions under uncertainty is a common challenge in numerous application domains, such as autonomic robotics, finance and medicine. Decision Networks are probabilistic graphical models that propose an extension of Bayesian Networks and can address the problem of Decision-Making under uncertainty. For an embedded version of Decision-Making, the related implementation must be adapted to constraints on resources, performance and power consumption. In this paper, we introduce a high-level tool to design probabilistic Decision-Making engines based on Decision Networks tailored to embedded constraints in terms of performance and energy consumption. This tool integrates high-level transformations and optimizations and produces efficient implementation solutions on a reconfigurable support, with the generation of HLS-Compliant C code. The proposed approach is validated with a simple Decision-Making example for UAV mission planning implemented on the Zynq SoC platform.

Subject Classification

ACM Subject Classification
  • Computer systems organization → Self-organizing autonomic computing
  • Computer systems organization → Embedded hardware
Keywords
  • Decision networks
  • Bayesian networks
  • HLS
  • FPGA

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