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Design of Distributed Reconfigurable Robotics Systems with ReconROS

Published:27 December 2021Publication History
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Abstract

Robotics applications process large amounts of data in real time and require compute platforms that provide high performance and energy efficiency. FPGAs are well suited for many of these applications, but there is a reluctance in the robotics community to use hardware acceleration due to increased design complexity and a lack of consistent programming models across the software/hardware boundary. In this article, we present ReconROS, a framework that integrates the widely used robot operating system (ROS) with ReconOS, which features multithreaded programming of hardware and software threads for reconfigurable computers. This unique combination gives ROS 2 developers the flexibility to transparently accelerate parts of their robotics applications in hardware. We elaborate on the architecture and the design flow for ReconROS and report on a set of experiments that underline the feasibility and flexibility of our approach.

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        • Published in

          cover image ACM Transactions on Reconfigurable Technology and Systems
          ACM Transactions on Reconfigurable Technology and Systems  Volume 15, Issue 3
          September 2022
          353 pages
          ISSN:1936-7406
          EISSN:1936-7414
          DOI:10.1145/3508070
          • Editor:
          • Deming Chen
          Issue’s Table of Contents

          Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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          Association for Computing Machinery

          New York, NY, United States

          Publication History

          • Published: 27 December 2021
          • Accepted: 1 October 2021
          • Revised: 1 September 2021
          • Received: 1 May 2021
          Published in trets Volume 15, Issue 3

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