Robotic Computing on FPGAs (Synthesis Lectures on Distributed Computing Theory)

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
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