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556 results on '"Platzner, Marco"'

2. AutonomROS: A ReconROS-based Autonomous Driving Unit

Author

Lienen, Christian, Brede, Mathis, Karger, Daniel, Koch, Kevin, Logan, Dalisha, Mazur, Janet, Nowosad, Alexander Philipp, Schnelle, Alexander, Waizy, Mohness, and Platzner, Marco

Subjects
Computer Science - Robotics
Abstract

Autonomous driving has become an important research area in recent years, and the corresponding system creates an enormous demand for computations. Heterogeneous computing platforms such as systems-on-chip that combine CPUs with reprogrammable hardware offer both computational performance and flexibility and are thus interesting targets for autonomous driving architectures. The de-facto software architecture standard in robotics, including autonomous driving systems, is ROS 2. ReconROS is a framework for creating robotics applications that extends ROS 2 with the possibility of mapping compute-intense functions to hardware. This paper presents AutonomROS, an autonomous driving unit based on the ReconROS framework. AutonomROS serves as a blueprint for a larger robotics application developed with ReconROS and demonstrates its suitability and extendability. The application integrates the ROS 2 package Navigation 2 with custom-developed software and hardware-accelerated functions for point cloud generation, obstacle detection, and lane detection. In addition, we detail a new communication middleware for shared memory communication between software and hardware functions. We evaluate AutonomROS and show the advantage of hardware acceleration and the new communication middleware for improving turnaround times, achievable frame rates, and, most importantly, reducing CPU load.

Published
2023

3. Mapping and Optimizing Communication in ROS 2-based Applications on Configurable System-on-Chip Platforms

Author

Lienen, Christian, Nowosad, Alexander Philipp, and Platzner, Marco

Subjects
Computer Science - Robotics
Abstract

The robot operating system is the de-facto standard for designing and implementing robotics applications. Several previous works deal with the integration of heterogeneous accelerators into ROS-based applications. One of these approaches is ReconROS, which enables nodes to be completely mapped to hardware. The follow-up work fpgaDDS extends ReconROS by an intra-FPGA data distribution service to process topic-based communication between nodes entirely in hardware. However, the application of this approach is strictly limited to communication between nodes implemented in hardware only. This paper introduces gateways to close the gap between topic communication in hardware and software. Gateways aim to reduce data transfers between hardware and software by synchronizing a hardware-and software-mapped topic. As a result, data must be transferred only once compared to a separate data transmission for each subscribing hardware node in the baseline. Our measurements show significant speedups in multi-subscriber scenarios with large message sizes. From the conclusions of these measurements, we present a methodology for the communication mapping of ROS 2 computation graphs. In the evaluation, an autonomous driving real-world example benefits from the gateway and achieves a speedup of 1.4.

Published
2023

4. fpgaDDS: An Intra-FPGA Data Distribution Service for ROS 2 Robotics Applications

Author

Lienen, Christian, Middeke, Sorel Horst, and Platzner, Marco

Subjects
Computer Science - Robotics
Abstract

Modern computing platforms for robotics applications comprise a set of heterogeneous elements, e.g., multi-core CPUs, embedded GPUs, and FPGAs. FPGAs are reprogrammable hardware devices that allow for fast and energy-efficient computation of many relevant tasks in robotics. ROS is the de-facto programming standard for robotics and decomposes an application into a set of communicating nodes. ReconROS is a previous approach that can map complete ROS nodes into hardware for acceleration. Since ReconROS relies on standard ROS communication layers, exchanging data between hardware-mapped nodes can lead to a performance bottleneck. This paper presents fpgaDDS, a lean data distribution service for hardware-mapped ROS 2 nodes. fpgaDDS relies on a customized and statically generated streaming-based communication architecture. We detail this communication architecture with its components and outline its benefits. We evaluate fpgaDDS on a test example and a larger autonomous vehicle case study. Compared to a ROS 2 application in software, we achieve speedups of up to 13.34 and reduce jitter by two orders of magnitude.

Published
2023

5. ReconROS Executor: Event-Driven Programming of FPGA-accelerated ROS 2 Applications

Author

Lienen, Christian and Platzner, Marco

Subjects
Computer Science - Robotics
Abstract

Many applications from the robotics domain can benefit from FPGA acceleration. A corresponding key question is how to integrate hardware accelerators into software-centric robotics programming environments. Recently, several approaches have demonstrated hardware acceleration for the robot operating system (ROS), the dominant programming environment in robotics. ROS is a middleware layer that features the composition of complex robotics applications as a set of nodes that communicate via mechanisms such as publish/subscribe, and distributes them over several compute platforms. In this paper, we present a novel approach for event-based programming of robotics applications that leverages ReconROS, a framework for flexibly mapping ROS 2 nodes to either software or reconfigurable hardware. The ReconROS executor schedules callbacks of ROS 2 nodes and utilizes a reconfigurable slot model and partial runtime reconfiguration to load hardware-based callbacks on demand. We describe the ReconROS executor approach, give design examples, and experimentally evaluate its functionality with examples.

Published
2022

6. Design of Distributed Reconfigurable Robotics Systems with ReconROS

Author

Lienen, Christian and Platzner, Marco

Subjects
Computer Science - Robotics, Computer Science - Distributed, Parallel, and Cluster Computing
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 paper 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., Comment: The paper will be published in a future version of the journal ACM TRETS

Published
2021

7. On Guaranteeing Schedulability of Periodic Real-Time Hardware Tasks Under ReconOS

Author

Clausing, Lennart, Guettatfi, Zakarya, Kaufmann, Paul, Lienen, Christian, Platzner, Marco, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Palumbo, Francesca, editor, Keramidas, Georgios, editor, Voros, Nikolaos, editor, and Diniz, Pedro C., editor

Published
2023
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9. Integrating Safety Guarantees into the Learning Classifier System XCS

Author

Hansmeier, Tim, Platzner, Marco, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Jiménez Laredo, Juan Luis, editor, Hidalgo, J. Ignacio, editor, and Babaagba, Kehinde Oluwatoyin, editor

Published
2022
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10. FLight: FPGA Acceleration of Lightweight DNN Model Inference in Industrial Analytics

Author

Mohammadi, Hassan Ghasemzadeh, Jentzsch, Felix Paul, Kuschel, Maurice, Arshad, Rahil, Rautmare, Sneha, Manjunatha, Suraj, Platzner, Marco, Boschmann, Alexander, Schollbach, Dirk, Filipe, Joaquim, Editorial Board Member, Ghosh, Ashish, Editorial Board Member, Prates, Raquel Oliveira, Editorial Board Member, Zhou, Lizhu, Editorial Board Member, Kamp, Michael, editor, Koprinska, Irena, editor, Bibal, Adrien, editor, Bouadi, Tassadit, editor, Frénay, Benoît, editor, Galárraga, Luis, editor, Oramas, José, editor, Adilova, Linara, editor, Krishnamurthy, Yamuna, editor, Kang, Bo, editor, Largeron, Christine, editor, Lijffijt, Jefrey, editor, Viard, Tiphaine, editor, Welke, Pascal, editor, Ruocco, Massimiliano, editor, Aune, Erlend, editor, Gallicchio, Claudio, editor, Schiele, Gregor, editor, Pernkopf, Franz, editor, Blott, Michaela, editor, Fröning, Holger, editor, Schindler, Günther, editor, Guidotti, Riccardo, editor, Monreale, Anna, editor, Rinzivillo, Salvatore, editor, Biecek, Przemyslaw, editor, Ntoutsi, Eirini, editor, Pechenizkiy, Mykola, editor, Rosenhahn, Bodo, editor, Buckley, Christopher, editor, Cialfi, Daniela, editor, Lanillos, Pablo, editor, Ramstead, Maxwell, editor, Verbelen, Tim, editor, Ferreira, Pedro M., editor, Andresini, Giuseppina, editor, Malerba, Donato, editor, Medeiros, Ibéria, editor, Fournier-Viger, Philippe, editor, Nawaz, M. Saqib, editor, Ventura, Sebastian, editor, Sun, Meng, editor, Zhou, Min, editor, Bitetta, Valerio, editor, Bordino, Ilaria, editor, Ferretti, Andrea, editor, Gullo, Francesco, editor, Ponti, Giovanni, editor, Severini, Lorenzo, editor, Ribeiro, Rita, editor, Gama, João, editor, Gavaldà, Ricard, editor, Cooper, Lee, editor, Ghazaleh, Naghmeh, editor, Richiardi, Jonas, editor, Roqueiro, Damian, editor, Saldana Miranda, Diego, editor, Sechidis, Konstantinos, editor, and Graça, Guilherme, editor

Published
2021
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11. Optimization of Application-Specific L1 Cache Translation Functions of the LEON3 Processor

Author

Ho, Nam, Kaufmann, Paul, Platzner, Marco, Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Abraham, Ajith, editor, Jabbar, M. A., editor, Tiwari, Sanju, editor, and Jesus, Isabel M. S., editor

Published
2021
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12. Timing Optimization for Virtual FPGA Configurations

Author

Witschen, Linus, Wiersema, Tobias, Nafchi, Masood Raeisi, Bockhorn, Arne, Platzner, Marco, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Derrien, Steven, editor, Hannig, Frank, editor, Diniz, Pedro C., editor, and Chillet, Daniel, editor

Published
2021
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15. Optimal and Greedy Heuristic Approaches for Scheduling and Mapping of Hardware Tasks to Reconfigurable Computing Devices

Author

Guettatfi, Zakarya, Kaufmann, Paul, Platzner, Marco, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Rincón, Fernando, editor, Barba, Jesús, editor, So, Hayden K. H., editor, Diniz, Pedro, editor, and Caba, Julián, editor

Published
2020
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16. Proof-Carrying Hardware Versus the Stealthy Malicious LUT Hardware Trojan

Author

Ahmed, Qazi Arbab, Wiersema, Tobias, Platzner, Marco, Hutchison, David, Editorial Board Member, Kanade, Takeo, Editorial Board Member, Kittler, Josef, Editorial Board Member, Kleinberg, Jon M., Editorial Board Member, Mattern, Friedemann, Editorial Board Member, Mitchell, John C., Editorial Board Member, Naor, Moni, Editorial Board Member, Pandu Rangan, C., Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Terzopoulos, Demetri, Editorial Board Member, Tygar, Doug, Editorial Board Member, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Hochberger, Christian, editor, Nelson, Brent, editor, Koch, Andreas, editor, Woods, Roger, editor, and Diniz, Pedro, editor

Published
2019
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23. An FPGA/HMC-Based Accelerator for Resolution Proof Checking

Author

Hansmeier, Tim, Platzner, Marco, Andrews, David, Hutchison, David, Series Editor, Kanade, Takeo, Series Editor, Kittler, Josef, Series Editor, Kleinberg, Jon M., Series Editor, Mattern, Friedemann, Series Editor, Mitchell, John C., Series Editor, Naor, Moni, Series Editor, Pandu Rangan, C., Series Editor, Steffen, Bernhard, Series Editor, Terzopoulos, Demetri, Series Editor, Tygar, Doug, Series Editor, Weikum, Gerhard, Series Editor, Voros, Nikolaos, editor, Huebner, Michael, editor, Keramidas, Georgios, editor, Goehringer, Diana, editor, Antonopoulos, Christos, editor, and Diniz, Pedro C., editor

Published
2018
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24. Ampehre: An Open Source Measurement Framework for Heterogeneous Compute Nodes

Author

Lösch, Achim, Wiens, Alex, Platzner, Marco, Hutchison, David, Series Editor, Kanade, Takeo, Series Editor, Kittler, Josef, Series Editor, Kleinberg, Jon M., Series Editor, Mattern, Friedemann, Series Editor, Mitchell, John C., Series Editor, Naor, Moni, Series Editor, Pandu Rangan, C., Series Editor, Steffen, Bernhard, Series Editor, Terzopoulos, Demetri, Series Editor, Tygar, Doug, Series Editor, Weikum, Gerhard, Series Editor, Berekovic, Mladen, editor, Buchty, Rainer, editor, Hamann, Heiko, editor, Koch, Dirk, editor, and Pionteck, Thilo, editor

Published
2018
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27. Self-aware Computing: Introduction and Motivation

Author

Lewis, Peter R., Platzner, Marco, Rinner, Bernhard, Tørresen, Jim, Yao, Xin, Rozenberg, Grzegorz, Series editor, Bäck, Thomas, Series editor, Eiben, A.E., Series editor, Kok, Joost N., Series editor, Spaink, Herman P., Series editor, Lewis, Peter R., editor, Platzner, Marco, editor, Rinner, Bernhard, editor, Tørresen, Jim, editor, and Yao, Xin, editor

Published
2016
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28. Conclusions and Outlook

Author

Lewis, Peter R., Platzner, Marco, Rinner, Bernhard, Torresen, Jim, Yao, Xin, Rozenberg, Grzegorz, Series editor, Bäck, Thomas, Series editor, Eiben, A.E., Series editor, Kok, Joost N., Series editor, Spaink, Herman P., Series editor, Lewis, Peter R., editor, Platzner, Marco, editor, Rinner, Bernhard, editor, Tørresen, Jim, editor, and Yao, Xin, editor

Published
2016
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29. Self-aware Compute Nodes

Author

Agne, Andreas, Happe, Markus, Löosch, Achim, Plessl, Christian, Platzner, Marco, Rozenberg, Grzegorz, Series editor, Bäck, Thomas, Series editor, Eiben, A.E., Series editor, Kok, Joost N., Series editor, Spaink, Herman P., Series editor, Lewis, Peter R., editor, Platzner, Marco, editor, Rinner, Bernhard, editor, Tørresen, Jim, editor, and Yao, Xin, editor

Published
2016
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32. I-Codesign: A Codesign Methodology for Reconfigurable Embedded Systems

Author

Ghribi, Ines, Abdallah, Riadh Ben, Khalgui, Mohamed, Platzner, Marco, Barbosa, Simone Diniz Junqueira, Series Editor, Filipe, Joaquim, Series Editor, Kotenko, Igor, Series Editor, Washio, Takashi, Series Editor, Yuan, Junsong, Series Editor, Zhou, Lizhu, Series Editor, Ghosh, Ashish, Series Editor, Cabello, Enrique, editor, Cardoso, Jorge, editor, Ludwig, André, editor, Maciaszek, Leszek A., editor, and van Sinderen, Marten, editor

Published
2017
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35. Using Deep Convolutional Neural Networks in Monte Carlo Tree Search

Author

Graf, Tobias, Platzner, Marco, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Plaat, Aske, editor, Kosters, Walter, editor, and van den Herik, Jaap, editor

Published
2016
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36. ReconOS

Author

Agne, Andreas, Platzner, Marco, Plessl, Christian, Happe, Markus, Lübbers, Enno, Koch, Dirk, editor, Hannig, Frank, editor, and Ziener, Daniel, editor

Published
2016
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39. Adaptive Playouts in Monte-Carlo Tree Search with Policy-Gradient Reinforcement Learning

Author

Graf, Tobias, Platzner, Marco, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Plaat, Aske, editor, van den Herik, Jaap, editor, and Kosters, Walter, editor

Published
2015
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40. On-The-Fly Verification of Reconfigurable Image Processing Modules Based on a Proof-Carrying Hardware Approach

Author

Wiersema, Tobias, Wu, Sen, Platzner, Marco, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Sano, Kentaro, editor, Soudris, Dimitrios, editor, Hübner, Michael, editor, and Diniz, Pedro C., editor

Published
2015
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42. Integrating Software and Hardware Verification

Author

Jakobs, Marie-Christine, Platzner, Marco, Wehrheim, Heike, Wiersema, Tobias, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Kobsa, Alfred, Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Albert, Elvira, editor, and Sekerinski, Emil, editor

Published
2014
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43. On Semeai Detection in Monte-Carlo Go

Author

Graf, Tobias, Schaefers, Lars, Platzner, Marco, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Kobsa, Alfred, Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, van den Herik, H. Jaap, editor, Iida, Hiroyuki, editor, and Plaat, Aske, editor

Published
2014
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44. Thread Shadowing: Using Dynamic Redundancy on Hybrid Multi-cores for Error Detection

Author

Meisner, Sebastian, Platzner, Marco, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Kobsa, Alfred, editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Weikum, Gerhard, editor, Goehringer, Diana, editor, Santambrogio, Marco Domenico, editor, Cardoso, João M. P., editor, and Bertels, Koen, editor

Published
2014
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