Related papers: RobotCore: An Open Architecture for Hardware Accel…
Primary motivation for this work was the need to implement hardware accelerators for a newly proposed ANN structure called Auto Resonance Network (ARN) for robotic motion planning. ARN is an approximating feed-forward hierarchical and…
Wireless transmission of large payloads, such as high-resolution images and LiDAR point clouds, is a major bottleneck in ROS 2, the leading open-source robotics middleware. The default Data Distribution Service (DDS) communication stack in…
Point cloud registration serves as a basis for vision and robotic applications including 3D reconstruction and mapping. Despite significant improvements on the quality of results, recent deep learning approaches are computationally…
The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…
Compared to conventional general-purpose processors, accelerator-rich architectures (ARAs) can provide orders-of-magnitude performance and energy gains and are emerging as one of the most promising solutions in the age of dark silicon.…
One of the most critical aspects of integrating loosely-coupled accelerators in heterogeneous SoC architectures is orchestrating their interactions with the memory hierarchy, especially in terms of navigating the various cache-coherence…
Edge AI deployment faces critical challenges balancing computational performance, energy efficiency, and resource constraints. This paper presents FPGA-accelerated RISC-V instruction set architecture (ISA) extensions for efficient neural…
We present KRCORE, an RDMA library with a microsecond-scale control plane on commodity RDMA hardware for elastic computing. KRCORE can establish a full-fledged RDMA connection within 10{\mu}s (hundreds or thousands of times faster than…
The complexity of today's robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and…
The Robotino, developed by Festo Didactic, serves as a versatile platform in education and research for mobile robotics tasks. However, there currently is no ROS2 integration for the Robotino available. In this paper, we describe our work…
Because robots can directly perceive and affect the physical world, security issues take on particular importance. In this paper, we describe the results of our work on scanning the entire IPv4 address space of the Internet for instances of…
Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions…
Networks-on-Chips (NoCs) recently became widely used, from multi-core CPUs to edge-AI accelerators. Emulation on FPGAs promises to accelerate their RTL modeling compared to slow simulations. However, realistic test stimuli are challenging…
Recent technological advancements have enabled proliferated use of small embedded and IoT devices for collecting, processing, and transferring the security-critical information and user data. This exponential use has acted as a catalyst in…
This paper presents an upgraded, real world application oriented version of gym-gazebo, the Robot Operating System (ROS) and Gazebo based Reinforcement Learning (RL) toolkit, which complies with OpenAI Gym. The content discusses the new ROS…
We introduce an approach to designing FPGA-accelerated middleboxes that simplifies development, debugging, and performance tuning by decoupling the tasks of hardware-accelerator implementation and software-application programming. Rosebud…
FPGAs are well-suited for dataflow architectures that process data in a streaming or pipelined manner, thus satisfying the high computational and communication demands of emerging applications. However, manually implementing an efficient…
A key component of any robot is the interface between robotics middleware software and physical motors. New robots often use arbitrary, messy mixtures of closed and open motor drivers and error-prone physical mountings, wiring, and…
The limited onboard energy of autonomous mobile robots poses a tremendous challenge for practical deployment. Hence, efficient computing solutions are imperative. A crucial shortcoming of state-of-the-art computing solutions is that they…
Systems built on the Robot Operating System (ROS) are increasingly easy to assemble, yet hard to govern and reliably coordinate. Beyond the sheer number of subsystems involved, the difficulty stems from their diversity and interaction…