ASAP is a novel event handling framework that dynamically adapts the transmission of events to the processing algorithm, keeping the system responsiveness and preventing overflows. ASAP is composed of two adaptive mechanisms. The first one prevents event processing overflows by discarding an adaptive percentage of the incoming events. The second mechanism dynamically adapts the size of the event packages to reduce the delay between event generation and processing.

⚙️ Installation

Some dependencies are required:

• ROS
• dvs_msgs (original repo here)
• openev

Then, ASAP can be installed.

For ROS1:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/raultapia/asap
catkin build asap

For ROS2:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/raultapia/asap
colcon build --packages-up-to asap

🖥️ Usage

roslaunch asap asap.launch

or

ros2 launch asap asap.launch.py

📜 Citation

If you use this work in an academic context, please cite the following publications:

R. Tapia, J.R. Martínez-de Dios, A. Gómez Eguíluz, A. Ollero ASAP: Adaptive Transmission Scheme for Online Processing of Event-Based Algorithms, Autonomous Robots, 2022.

@article{tapia2022asap,
  author={Tapia, R. and Martínez-de Dios, J.R. and Gómez Eguíluz, A. and Ollero, A.},
  journal={Autonomous Robots},
  title={{ASAP}: Adaptive Transmission Scheme for Online Processing of Event-Based Algorithms},
  year={2022},
  volume={46},
  pages={879–892},
  doi={10.1007/s10514-022-10051-y}
}

R. Tapia, A. Gómez Eguíluz, J.R. Martínez-de Dios, A. Ollero ASAP: Adaptive Scheme for Asynchronous Processing of Event-Based Vision Algorithms, IEEE International Conference on Robotics and Automation. Workshop on Unconventional Sensors in Robotics, 2020.

@inproceedings{tapia2020asap,
  author={Tapia, R. and Gómez Eguíluz, A. and Martínez-de Dios, J.R. and Ollero, A.},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA) Workshop on Unconventional Sensors in Robotics},
  title={{ASAP}: Adaptive Scheme for Asynchronous Processing of Event-Based Vision Algorithms},
  year={2020},
  doi={10.5281/zenodo.3855412}
}

📝 License

Distributed under the GPLv3 License. See LICENSE for more information.

📬 Contact

Raul Tapia - [email protected]