Robotic Computing on FPGAs
- Length: 220 pages
- Edition: 1
- Language: English
- Publisher: Morgan & Claypool
- Publication Date: 2021-06-30
- ISBN-10: 1636391656
- ISBN-13: 9781636391656
- Sales Rank: #0 (See Top 100 Books)
This book provides a thorough overview of the state-of-the-art field-programmable gate array (FPGA)-based robotic computing accelerator designs and summarizes their adopted optimized techniques. This book consists of ten chapters, delving into the details of how FPGAs have been utilized in robotic perception, localization, planning, and multi-robot collaboration tasks. In addition to individual robotic tasks, this book provides detailed descriptions of how FPGAs have been used in robotic products, including commercial autonomous vehicles and space exploration robots.
Preface Introduction and Overview Sensing Perception Localization Planning and Control FPGAs in Robotic Applications The Deep Processing Pipeline Summary FPGA Technologies An Introduction to FPGA Technologies Types of FPGAs FPGA Architecture Commercial Applications of FPGAs Partial Reconfiguration What is Partial Reconfiguration? How to Use Partial Reconfiguration? Achieving High Performance Real-World Case Study Robot Operating System (ROS) on FPGAs Robot Operating System (ROS) ROS-Compliant FPGAs Optimizing Communication Latency for the ROS-Compliant FPGAs Summary Perception on FPGAs – Deep Learning Why Choose FPGAs for Deep Learning? Preliminary: Deep Neural Network Design Methodology and Criteria Hardware-Oriented Model Compression Data Quantization Weight Reduction Hardware Design: Efficient Architecture Computation Unit Designs Loop Unrolling Strategies System Design Evaluation Summary Perception on FPGAs – Stereo Vision Perception in Robotics Stereo Vision in Robotics Local Stereo Matching on FPGAs Algorithm Framework FPGA Designs Global Stereo Matching on FPGAs Algorithm Framework FPGA Designs Semi-Global Matching on FPGAs Algorithm Framework FPGA Designs Efficient Large-Scale Stereo Matching on FPGAs ELAS Algorithm Framework FPGA Designs Evaluation and Discussion Dataset and Accuracy Power and Performance Summary Localization on FPGAs Preliminary Context Algorithm Overview Algorithm Framework Frontend FPGA Design Overview Exploiting Task-Level Parallelisms Backend FPGA Design Evaluation Experimental Setup Resource Consumption Performance Summary Planning on FPGAs Motion Planning Context Overview Probabilistic Roadmap Rapidly Exploring Random Tree Collision Detection on FPGAs Motion Planning Compute Time Profiling General Purpose Processor-Based Solutions Specialized Hardware Accelerator-Based Solutions Evaluation and Discussion Graph Search on FPGAs Summary Multi-Robot Collaboration on FPGAs Multi-Robot Exploration INCAME Framework for Multi-Task on FPGAs Hardware Resource Conflicts in ROS Interruptible Accelerator with ROS (INCAME) Virtual Instruction-Based Accelerator Interrupt Instruction Driven Accelerator How to Interrupt: Virtual Instruction Where to Interrupt: After SAVE/CALC_F Latency Analysis Virtual Instruction ISA (VI-ISA) Instruction Arrangement Unit (IAU) Example of Virtual Instruction Evaluation and Results Experiment Setup Virtual Instruction-Based Interrupts ROS-Based MR-Exploration Summary Autonomous Vehicles Powered by FPGAs The PerceptIn Case Study Design Constraints Overview of the Vehicle Performance Requirements Energy and Cost Considerations Software Pipeline On Vehicle Processing System Hardware Design Space Exploration Hardware Architecture Sensor Synchronization Performance Characterizations Summary Space Robots Powered by FPGAs Radiation Tolerance for Space Computing Space Robotic Algorithm Acceleration on FPGAs Feature Detection and Matching Stereo Vision Deep Learning Utilization of FPGAs in Space Robotic Missions Mars Exploration Rover Missions Mars Science Laboratory Mission Mars 2020 Mission Summary Conclusion What we Have Covered in This Book Looking Forward Bibliography Authors' Biographies Blank Page
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