Deep Neural Networks (DNNs) are widely used in intelligent applications, driving increasing computational demands on GPUs. However, modern GPU multitasking scheduling algorithms fail to effectively balance real-time task performance and resource utilization, especially under dynamic workloads with highly variable DNN computational demands. The complex and workload-dependent execution times of DNN kernels often lead to inefficient resource allocation, degraded system throughput, and missed real-time constraints. To address these challenges, we propose Flexible Parallel Orchestrator (FlePo), a GPU multitasking scheduling framework designed to optimize resource utilization and maintain real-time task performance within acceptable limits for soft real-time systems. FlePo integrates two key techniques: Adaptive Padding Dispatch (APD), which dynamically schedules best-effort tasks while leveraging the predictable execution characteristics of DNN kernels to maintain real-time predictability; and Dynamic Parallel Fusion (DPF), which employs kernel fusion to create computational isolation, reducing interference in parallel job execution. By combining offline profiling with online adaptation, FlePo efficiently responds to workload variations. We evaluate FlePo on two heterogeneous GPU platforms, NVIDIA Tesla V100 and AMD MI50, achieving up to a 50% increase in throughput while keeping real-time overhead below 2%. Our work enhances GPU multitasking in dynamic environments, with potential applications in autonomous driving, smart homes, and intelligent healthcare.

Edge intelligence offers a promising solution for Simultaneous Localization and Mapping (SLAM) in large-scale scenarios, where multiple robots collaboratively perceive the environment and upload their local maps to an edge server. However, maintaining mapping accuracy under constrained and dynamic communication resources remains a significant challenge for the practical deployment of robot swarms. Concurrent data uploads from multiple agents can exacerbate network congestion, leading to the loss of critical information, delayed updates, and, ultimately, the inconsistency of the generated maps. This paper presents Hermes, an edge-assisted collaborative mapping system designed for communication-constrained environments. Hermes streamlines data transfer through bandwidth-aware map distillation, ensuring only the most crucial messages are transmitted to the edge server. We quantify the importance of keyframes and landmarks based on their information entropy gain in pose estimation. By selectively sharing essential submaps, Hermes adaptively balances communication bandwidth and information richness during the mapping process. We implemented Hermes on heterogeneous platforms and conducted experiments using public datasets and self-collected campus data. Hermes exceeds SwarmMap by 50% in bandwidth utilization with similar accuracy and surpasses COVINS-G by 65% in trajectory error under highly constrained network resources.