Assessing and Improving the Energy Efficiency of an Autonomous Rover

Research project submitted under the requirements for the degree of Bachelor of Science in Computer Science at the Vrije Universiteit Amsterdam.

This project contributes to the ASE Labs at Vrije Universiteit Amsterdam by assessing and improving the energy consumption of the ASE/Rover, a battery-powered autonomous vehicle built to perform in racing competitions.

Author: Ambra Mihu

First supervisor: Ivano Malavolta

Second reader: Vincenzo Stoico

This repository is a companion package for the bachelor thesis project.

This thesis aims to assess and improve the current energy consumption patterns of the ASE rover, under different operational conditions, propose two targeted interventions (CPU governor adjustments and imaging resolution scaling) to improve efficiency, and evaluate their impact through systematic experimentation and analysis.

Repository structure

ASE/Rover-energy-consumption-replication-package
 .
 |     
 |--- data/                            Data that was used in this study
 |
 |--- experiment-runner/               Scripts for running the experiments, including all of the energy results
 |
 |--- modified_services/               Two services that handle different parameters compared to the default ones
 |
 |--- summary_and_plots/               Detailed summaries of results and plots used in the paper

Setup

Clone this repository:

git clone https://github.com/ambra19/ASE-Rover-energy-consumption-replication-package.git
cd ASE-Rover-energy-consumption-replication-package

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Create a virtual environment:

python3 -m venv venv

Activate it:

source venv/bin/activate

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Install the dependencies:

pip install -r requirements.txt

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The Jupyter notebooks should now be able to load and run the cells without issues.