Tree-Based Graph for Logistics OctoMap Optimization
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Solution Overview
Problem
Existing logistics systems face resource constraints in large environments with numerous objects, leading to inefficiencies in communication, processing, and data management, particularly with frameworks like OctoMap breaking down in edge applications.
Innovation Solution
A tree-based graph representation is used to manage logistics operations, dispersing information to multiple levels of detail based on semantics, providing a compact global representation structure that alleviates resource constraints and optimizes processing, communication, and data compaction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If OctoMap framework is used for logistics operations in large environments, then mapping capability is provided, but resource constraints are not resolved and the framework breaks down in edge applications
Solution Approach 1:
The patent segments the global OctoMap into multiple local OctoMaps, each maintained by different edge nodes. This divides the large-scale mapping problem into smaller, manageable segments that can be processed independently with limited resources, resolving the contradiction between providing comprehensive mapping capability and managing resource constraints in edge applications.
2Loss of information
If global information is processed centrally, then complete environmental awareness is achieved, but communication bottlenecks and network bandwidth consumption increase
Solution Approach 1:
The patent implements local quality by allowing each edge node to maintain and process its own local OctoMap with high detail, while only exchanging necessary update information with other nodes. This ensures each node has complete environmental awareness of its local area without requiring continuous transmission of all global information, thus reducing network bandwidth consumption while maintaining information completeness.
Solution Approach 2:
The patent introduces a selective information exchange mechanism where nodes act as intermediaries, sharing only relevant OctoMap updates and changes with neighboring nodes. This intermediary approach filters out unnecessary information transmission, reducing network bandwidth consumption while ensuring that each node receives the environmental information it needs for complete awareness.
3Measurement precision
If detailed information is processed at all nodes, then processing accuracy is improved, but processing time and computational overhead increase due to frivolous information
Solution Approach 1:
The patent segments environmental information processing by assigning different levels of detail to different nodes based on their local OctoMaps. Each node processes detailed information only for its local area while relying on other nodes for distant environmental details, thereby maintaining processing accuracy for relevant information while reducing time spent processing frivolous remote information.
Solution Approach 2:
The patent applies partial action by having each node process only the portion of environmental information that is relevant to its local context and operations. Nodes perform detailed processing on local OctoMap data while using coarser or summary information from other nodes, achieving sufficient processing accuracy without the excessive computational overhead of processing all detailed information at every node.
Data Source
AI summary
Systems and methods for decoupling information into multiple levels of detail based on semantics while providing a compact global representation structure. A tree-based graph represents objects in an environment. The top node provides complete environment information at the lowest level of detail. Leaves of the tree-based graph complement the parent nodes with more detailed local information. This achieved efficient processing, communication, and data compaction.