This paper presents a very compact 16-node cluster that is the core of a future robot for collecting and storing massive amounts of sensor data for research on Simultaneous Localization and Mapping (SLAM). To the best of our knowledge, this is the first time that such a cluster is used in robotics. We first present the requirements and different options for computing of such a robot and then show the hardware and software of our solution in detail. The cluster consists of 16 nodes of AMD Ryzen 7 5700U CPUs with a total of 128 cores. As a system that is to be used on a Clearpath Husky robot, it is very small in size, can be operated from battery power and has all required power and networking components integrated. Stress tests on the completed cluster show that it performs well.

翻译：本文介绍了一个非常紧凑的16节集群,这是未来机器人收集和储存大量传感器数据的核心,用于同步本地化和绘图研究(SLAM),据我们所知,这是首次在机器人中使用这种集群。我们首先提出了计算这种机器人的要求和不同选项,然后详细展示了我们解决方案的硬件和软件。该集群由16个AMD Ryzen 7,5700U CPU节组成,共128个核心。作为一个系统,用于清晰的Husky机器人,其规模非常小,可以使用电池电源操作,并且所有需要的电力和网络组件都集成在一起。对完成的集群的压力测试显示它运行良好。