A ² : Towards Accelerator Level Parallelism for Autonomous Micromobility Systems

Autonomous micromobility systems (AMS) such as low-speed minicabs and robots are thriving. In AMS, multiple Deep Neural Networks execute in parallel on heterogeneous AI accelerators. An emerging paradigm called Accelerator Level Parallelism (ALP) suggests managing accelerators holistically. However, there lacks a specialized and practical solution populating ALP for an AMS, where the varying real-time requirements under different working scenarios bring an opportunity to dynamically tradeoff between latency and efficiency. Furthermore, accelerator heterogeneity introduces enormous configuration space, and the shared-memory architecture results in dynamic bandwidth interference. In this article, we propose A 2 , a novel AMS resource manager optimizing energy and memory space efficiency under variable latency constraints. We gain insight from prior Learn&Control scheme to design an Analyze&Adapt scheme specialized for heterogeneous AI accelerators under shared-memory architecture. It features analyzing the system thoroughly offline to support two-step adaptation online. We build a prototype of A 2 and evaluate it on a commercial edge platform. We show that A 2 achieves 32.8% improvements in power and 13.8% in memory compared with control-based methods. As for timeliness enhancement, A 2 reduces the deadline violation rate by 9.2 percentage points (12.8% → 3.6%) on average compared to directly porting Learn&Control methods.