RISC-V Based Hardware Acceleration of Interval Contractor Primitives in the Context of Mobile Robotics

Localization tasks, generally modeled as Constraint Satisfaction Problem (CSP), are recurring problems in mobile robotics. Known approaches rely on software libraries which all have their advantages but also their limitations, among which non-optimal computing performances. This paper proposes a dif...

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Vydané v:Acta cybernetica (Szeged) Ročník 26; číslo 4; s. 889 - 912
Hlavní autori: Pierre Filiol, Bollengier, Theotime, Jaulin, Luc, Le Lann, Jean-Christophe
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Szeged Laszlo Nyul 01.01.2024
University of Szeged, Institute of Informatics
Edícia:Special Issue of SWIM 2023 / 2024
Predmet:
Algorithms
C plus plus
Computer Arithmetic
Computer Science
Contractors
Hardware
Hardware Architecture
Libraries
Localization
RISC
Robotics
Robots
RISC-V
intervals
mobile robotics
IEEE-1788
FPGA
contractor programming
ISSN:0324-721X, 2676-993X
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Shrnutí:Localization tasks, generally modeled as Constraint Satisfaction Problem (CSP), are recurring problems in mobile robotics. Known approaches rely on software libraries which all have their advantages but also their limitations, among which non-optimal computing performances. This paper proposes a different approach which consists in extending the RISC-V ISA to provide hardware support for interval primitives.
Bibliografia:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:0324-721X
2676-993X
DOI:10.14232/actacyb.306636