Memory-Centric Communication Mechanism for Real-time Autonomous Navigation Applications.

There has been a remarkable increase in the speed of AI development over the past few years. Artificial intelligence and deep learning techniques are blooming and expanding in all forms to every sector possible. With the emerging intelligent autonomous navigation systems, both memory allocation and data movement are becoming the main bottlenecks in inter-process communication procedures, especially in supporting various types of messages between multiple programming languages. To reduce significant memory allocation and data movement cost, we propose a novel memory-centric mechanism, which includes a virtual layer based architecture and a pre-record memory allocation algorithm. Furthermore, we implement a memory-centric communication framework named Z-framework based on the proposed mechanism to achieve high efficient IPC procedures in autonomous navigation systems. Experimental results show that Z-framework is able to gain up to 41% and 35% performance improvement compared with the approach used in ROS2, which is an industry standard and the state-of-the-art approach used in CyberRT, respectively.