ReconfROS: Running ROS on reconfigurable SoCs

DC ElementWertSprache
dc.contributor.authorEisoldt, M.
dc.contributor.authorHinderink, S.
dc.contributor.authorTassemeier, M.
dc.contributor.authorFlottmann, M.
dc.contributor.authorVana, J.
dc.contributor.authorWiemann, T.
dc.contributor.authorGaal, J.
dc.contributor.authorRothmann, M.
dc.contributor.authorPorrmann, M.
dc.date.accessioned2021-12-23T16:34:46Z-
dc.date.available2021-12-23T16:34:46Z-
dc.date.issued2021
dc.identifier.isbn9781450389525
dc.identifier.urihttps://osnascholar.ub.uni-osnabrueck.de/handle/unios/18196-
dc.descriptionConference 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
dc.description.abstractIn 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.
dc.language.isoen
dc.publisherAssociation for Computing Machinery
dc.relation.ispartofACM International Conference Proceeding Series
dc.subjectComputer hardware
dc.subjectDrones
dc.subjectField programmable gate arrays (FPGA)
dc.subjectFPGA
dc.subjectLowpower hardware
dc.subjectPath Detection
dc.subjectPath-following algorithm
dc.subjectProof of concept
dc.subjectReconfigurable
dc.subjectRobot operating systems (ROS)
dc.subjectROS
dc.subjectSoC
dc.subjectSystems engineering, Hardware-accelerated
dc.subjectUAV
dc.subjectUGV
dc.subjectUnmanned ground vehicles, Intelligent vehicle highway systems
dc.titleReconfROS: Running ROS on reconfigurable SoCs
dc.typeconference paper
dc.identifier.doi10.1145/3444950.3444959
dc.identifier.scopus2-s2.0-85108155227
dc.identifier.urlhttps://www.scopus.com/inward/record.uri?eid=2-s2.0-85108155227&doi=10.1145%2f3444950.3444959&partnerID=40&md5=21ffb05a2b87d8d8e75ba0fbb7f1535a
dc.description.startpage16
dc.description.endpage21
dcterms.isPartOf.abbreviationACM Int. Conf. Proc. Ser.
crisitem.author.deptFB 06 - Mathematik/Informatik-
crisitem.author.deptFB 06 - Mathematik/Informatik-
crisitem.author.deptidfb06-
crisitem.author.deptidfb06-
crisitem.author.orcid0000-0003-0710-872X-
crisitem.author.orcid0000-0003-1005-5753-
crisitem.author.parentorgUniversität Osnabrück-
crisitem.author.parentorgUniversität Osnabrück-
crisitem.author.netidWiTh428-
crisitem.author.netidPoMa309-
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