ReconfROS: Running ROS on Reconfigurable SoCs


In this paper, we present an approach to integrate reconfigurable SoCs into the well known Robot Operating System (ROS). Our method allows to implement hardware-accelerated algorithms on FPGA and integrate them directly into the ROS ecosystem. This allows to combine the established and well tested ROS infrastructure together with low-power hardware acceleration. As a proof-of-concept for this novel integration, we ported an existing path-following algorithm onto an FPGA and tested it on an unmanned ground vehicle (UGV).

Gesellschaft für Informatik in der Land-, Forst- und Ernährungswirtschaft (GIL-2021)