ReconfROS: Running ROS on reconfigurable SoCs
| Autor(en): | Eisoldt, M. Hinderink, S. Tassemeier, M. Flottmann, M. Vana, J. Wiemann, T. Gaal, J. Rothmann, M. Porrmann, M. |
Stichwörter: | Computer hardware; Drones; Field programmable gate arrays (FPGA); FPGA; Lowpower hardware; Path Detection; Path-following algorithm; Proof of concept; Reconfigurable; Robot operating systems (ROS); ROS; SoC; Systems engineering, Hardware-accelerated; UAV; UGV; Unmanned ground vehicles, Intelligent vehicle highway systems | Erscheinungsdatum: | 2021 | Herausgeber: | Association for Computing Machinery | Journal: | ACM International Conference Proceeding Series | Startseite: | 16 | Seitenende: | 21 | Zusammenfassung: | In this paper, we present an approach to integrate reconfigurable SoCs into the well known Robot Operating System (ROS). Our method allows to implement hardware-accelerated algorithms on FPGA and integrate them directly into the ROS ecosystem. This allows to combine the established and well tested ROS infrastructure together with low-power hardware acceleration. As a proof-of-concept for this novel integration, we ported an existing path-following algorithm onto an FPGA and tested it on an unmanned ground vehicle (UGV). © 2021 ACM. |
Beschreibung: | Conference of 2021 Worshop on Drone Systems Engineering and Rapid Simulation and Performance Evaluation: Methods and Tools, DroneSE and RAPIDO 2021 ; Conference Date: 18 January 2021 Through 20 January 2021; Conference Code:169501 |
ISBN: | 9781450389525 | DOI: | 10.1145/3444950.3444959 | Externe URL: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85108155227&doi=10.1145%2f3444950.3444959&partnerID=40&md5=21ffb05a2b87d8d8e75ba0fbb7f1535a |
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