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Architecture exploration of intelligent robot system using ROS-compliant FPGA component

Authors:

Takeshi Ohkawa,

Kazushi Yamashina,

Takuya Matsumoto,

Kanemitsu Ootsu,

Takashi YokotaAuthors Info & Claims

RSP '16: Proceedings of the 27th International Symposium on Rapid System Prototyping: Shortening the Path from Specification to Prototype

Pages 72 - 78

https://doi.org/10.1145/2990299.2990312

Published: 01 October 2016 Publication History

Abstract

This paper presents a novel method for architecture exploration of an intelligent robot system while satisfying high processing performance at low power by utilizing FPGA and remote computing resources. In order to ease development complexity in the conventional architecture exploration, ROS-compliant FPGA component technology is employed. As a case study, Visual SLAM (Self Localization and Mapping) processing is studied, which is important for realizing intelligent autonomous robots. Some part of Visual SLAM processing is to be off-loaded onto a remote server outside a robot and to be processed parallel in the server. At the same time, the essential part of front-end of SLAM processing stays in the robot itself to reduce communication traffic between the robot and the remote computing resources. We have studied SLAM processing to find optimum function partitioning. In order to distribute and parallelize this processing, we explored processing architecture for trade-offs of power and performance.

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Cited By

Mayoral-Vilches VJabbour JHsiao YWan ZCrespo-Álvarez MStewart MReina-Muñoz JNagras PVikhe GBakhshalipour MPinzger MRass SPanigrahi SCorradi GRoy NGibbons PNeuman SPlancher BReddi V(2024)RobotPerf: An Open-Source, Vendor-Agnostic, Benchmarking Suite for Evaluating Robotics Computing System Performance2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10610841(8288-8297)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10610841
Bell OGill CZhang X(2023)Hardware Acceleration with Zero-Copy Memory Management for Heterogeneous Computing2023 IEEE 29th International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)10.1109/RTCSA58653.2023.00013(28-37)Online publication date: 30-Aug-2023
https://doi.org/10.1109/RTCSA58653.2023.00013
Podlubne AGöhringer D(2023)A Survey on Adaptive Computing in Robotics: Modelling, Methods and ApplicationsIEEE Access10.1109/ACCESS.2023.328119011(53830-53849)Online publication date: 2023
https://doi.org/10.1109/ACCESS.2023.3281190
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Architecture exploration of intelligent robot system using ROS-compliant FPGA component

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Published In

cover image ACM Conferences

RSP '16: Proceedings of the 27th International Symposium on Rapid System Prototyping: Shortening the Path from Specification to Prototype

October 2016

141 pages

ISBN:9781450345354

DOI:10.1145/2990299

Program Chairs:
Kenneth Kent
University of New Brunswick, Canada
,
Sungjoo Yoo
Seoul National University, South Korea

Copyright © 2016 Owner/Author.

This work is licensed under a Creative Commons Attribution International 4.0 License.

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SIGBED: ACM Special Interest Group on Embedded Systems
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IEEE CAS
IEEE-RS: Reliability Society
IEEE CEDA
SIGMICRO: ACM Special Interest Group on Microarchitectural Research and Processing

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Association for Computing Machinery

New York, NY, United States

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Published: 01 October 2016

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Cited By

Mayoral-Vilches VJabbour JHsiao YWan ZCrespo-Álvarez MStewart MReina-Muñoz JNagras PVikhe GBakhshalipour MPinzger MRass SPanigrahi SCorradi GRoy NGibbons PNeuman SPlancher BReddi V(2024)RobotPerf: An Open-Source, Vendor-Agnostic, Benchmarking Suite for Evaluating Robotics Computing System Performance2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10610841(8288-8297)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10610841
Bell OGill CZhang X(2023)Hardware Acceleration with Zero-Copy Memory Management for Heterogeneous Computing2023 IEEE 29th International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)10.1109/RTCSA58653.2023.00013(28-37)Online publication date: 30-Aug-2023
https://doi.org/10.1109/RTCSA58653.2023.00013
Podlubne AGöhringer D(2023)A Survey on Adaptive Computing in Robotics: Modelling, Methods and ApplicationsIEEE Access10.1109/ACCESS.2023.328119011(53830-53849)Online publication date: 2023
https://doi.org/10.1109/ACCESS.2023.3281190
Mayoral-Vilches VNeuman SPlancher BReddi V(2022)RobotCore: An Open Architecture for Hardware Acceleration in ROS 22022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS47612.2022.9982082(9692-9699)Online publication date: 23-Oct-2022
https://doi.org/10.1109/IROS47612.2022.9982082
Nyboe FMalle NEbeid E(2022)MPSoC4Drones: An Open Framework for ROS2, PX4, and FPGA Integration2022 International Conference on Unmanned Aircraft Systems (ICUAS)10.1109/ICUAS54217.2022.9836055(1246-1255)Online publication date: 21-Jun-2022
https://doi.org/10.1109/ICUAS54217.2022.9836055
Eisoldt MHinderink STassemeier MFlottmann MVana JWiemann TGaal JRothmann MPorrmann M(2021)ReconfROS: Running ROS on Reconfigurable SoCsProceedings of the 2021 Drone Systems Engineering and Rapid Simulation and Performance Evaluation: Methods and Tools Proceedings10.1145/3444950.3444959(16-21)Online publication date: 18-Jan-2021
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Moreac EAbdali EBerry FHeller DDiguet J(2020)Hardware-in-the-loop simulation with dynamic partial FPGA reconfiguration applied to computer vision in ROS-based UAV2020 International Workshop on Rapid System Prototyping (RSP)10.1109/RSP51120.2020.9244863(1-7)Online publication date: 24-Sep-2020
https://doi.org/10.1109/RSP51120.2020.9244863
Ruiz-Rosero JRamirez-Gonzalez GKhanna R(2019)Field Programmable Gate Array Applications—A Scientometric ReviewComputation10.3390/computation70400637:4(63)Online publication date: 11-Nov-2019
https://doi.org/10.3390/computation7040063
Podlubne AGohringer D(2019)FPGA-ROS: Methodology to Augment the Robot Operating System with FPGA Designs2019 International Conference on ReConFigurable Computing and FPGAs (ReConFig)10.1109/ReConFig48160.2019.8994719(1-5)Online publication date: Dec-2019
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Boudjadar JMacedo HRisco Martín JBesada EDe Rango F(2018)Towards a schedulability-driven architecture exploration for mixed criticality multicore systemsProceedings of the 22nd International Symposium on Distributed Simulation and Real Time Applications10.5555/3330299.3330304(37-46)Online publication date: 15-Oct-2018
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