Model-Based Generation of Hardware/Software Architectures With Hybrid Schedulers for Robotics Systems

Robotic systems compute data from multiple sensors to perform several actions (e.g., path planning, object detection). FPGA-based architectures for such systems may consist of several accelerators to process compute-intensive algorithms. Designing and implementing such complex systems tends to be an...

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Published in:IEEE transactions on computers Vol. 73; no. 7; pp. 1640 - 1654
Main Authors: Podlubne, Ariel, Mey, Johannes, Andreou, Andreas, Pertuz, Sergio, Aszmann, Uwe, Gohringer, Diana
Format: Journal Article
Language:English
Published: New York IEEE 01.07.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Accelerators
Algorithms
code generation
Complex systems
Computational modeling
Computer architecture
Data flow analysis
embedded hardware
Field programmable gate arrays
FPGAs
HW/SW co-design
Hybrid systems
Middleware
model-based
Object recognition
Quaternions
Robotics
Robots
Software
Software engineering
VHDL
ISSN:0018-9340, 1557-9956
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Abstract Robotic systems compute data from multiple sensors to perform several actions (e.g., path planning, object detection). FPGA-based architectures for such systems may consist of several accelerators to process compute-intensive algorithms. Designing and implementing such complex systems tends to be an arduous task. This work proposes a modeling approach to generate architectures for such applications, compliant with existing robotics middlewares (e.g., ROS, ROS2). The challenge is to have a compact, yet expressive description of the system with just enough information to generate all required components and to integrate existing algorithms. The system model must be application-independent and leverage FPGA advantages, such as concurrency, energy efficiency, and acceleration due to custom designs, surpassing software-based solutions. Previous work mainly focused on individual accelerators rather than all components involved in a system and their interactions. The proposed approach exploits the advantages of model-driven engineering and model-based code generation to produce all components, i.e., message converters as middleware interfaces and wrappers to integrate algorithms. Data type and data flow analysis are performed to derive the necessary information to generate the components and their connections. Six different schedulers are proposed to cover multiple scenarios. Solutions to several identified challenges for generating entire systems from such models are evaluated using four different use cases.
AbstractList Robotic systems compute data from multiple sensors to perform several actions (e.g., path planning, object detection). FPGA-based architectures for such systems may consist of several accelerators to process compute-intensive algorithms. Designing and implementing such complex systems tends to be an arduous task. This work proposes a modeling approach to generate architectures for such applications, compliant with existing robotics middlewares (e.g., ROS, ROS2). The challenge is to have a compact, yet expressive description of the system with just enough information to generate all required components and to integrate existing algorithms. The system model must be application-independent and leverage FPGA advantages, such as concurrency, energy efficiency, and acceleration due to custom designs, surpassing software-based solutions. Previous work mainly focused on individual accelerators rather than all components involved in a system and their interactions. The proposed approach exploits the advantages of model-driven engineering and model-based code generation to produce all components, i.e., message converters as middleware interfaces and wrappers to integrate algorithms. Data type and data flow analysis are performed to derive the necessary information to generate the components and their connections. Six different schedulers are proposed to cover multiple scenarios. Solutions to several identified challenges for generating entire systems from such models are evaluated using four different use cases.
Author Pertuz, Sergio
Aszmann, Uwe
Podlubne, Ariel
Mey, Johannes
Gohringer, Diana
Andreou, Andreas
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Snippet Robotic systems compute data from multiple sensors to perform several actions (e.g., path planning, object detection). FPGA-based architectures for such...
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SubjectTerms Accelerators
Algorithms
code generation
Complex systems
Computational modeling
Computer architecture
Data flow analysis
embedded hardware
Field programmable gate arrays
FPGAs
HW/SW co-design
Hybrid systems
Middleware
model-based
Object recognition
Quaternions
Robotics
Robots
Software
Software engineering
VHDL
Title Model-Based Generation of Hardware/Software Architectures With Hybrid Schedulers for Robotics Systems
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