Awards

2022

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

C. Lienen, M. Platzner, 2022

Task Mapping for Hardware-Accelerated Robotics Applications using ReconROS

C. Lienen, M. Platzner, 2022

Event-Driven Programming of FPGA-accelerated ROS 2 Robotics Applications

C. Lienen, M. Platzner, in: 2022 25th Euromicro Conference on Digital System Design (DSD), 2022

DOI

2021

Design of Distributed Reconfigurable Robotics Systems with ReconROS

C. Lienen, M. Platzner, ACM Transactions on Reconfigurable Technology and Systems (2021), pp. 1-20

DOI

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 article, 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.

Design of Distributed Reconfigurable Robotics Systems with ReconROS

C. Lienen, M. Platzner, in: arXiv:2107.07208, 2021

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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 ROS2 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.

https://arxiv.org/abs/2107.07208

2020

ReconROS: Flexible Hardware Acceleration for ROS2 Applications

C. Lienen, M. Platzner, B. Rinner, in: Proceedings of the 2020 International Conference on Field-Programmable Technology (FPT), 2020

2019

Implementing a Real-time System on a Platform FPGA operated with ReconOS

C. Lienen, Masterarbeit, Universität Paderborn, 2019

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thesis_main.pdf -

Awards

Publications

Konferenzbeiträge

Task Mapping for Hardware-Accelerated Robotics Applications using ReconROS

C. Lienen, M. Platzner, 2022

@inproceedings{Lienen_Platzner, title={Task Mapping for Hardware-Accelerated Robotics Applications using ReconROS}, author={Lienen, Christian and Platzner, Marco} }

Event-Driven Programming of FPGA-accelerated ROS 2 Robotics Applications

C. Lienen, M. Platzner, in: 2022 25th Euromicro Conference on Digital System Design (DSD), 2022

DOI

@inproceedings{Lienen_Platzner, title={Event-Driven Programming of FPGA-accelerated ROS 2 Robotics Applications}, DOI={10.1109/DSD57027.2022.00088}, booktitle={2022 25th Euromicro Conference on Digital System Design (DSD)}, author={Lienen, Christian and Platzner, Marco} }

ReconROS: Flexible Hardware Acceleration for ROS2 Applications

C. Lienen, M. Platzner, B. Rinner, in: Proceedings of the 2020 International Conference on Field-Programmable Technology (FPT), 2020

@inproceedings{Lienen_Platzner_Rinner_2020, title={ReconROS: Flexible Hardware Acceleration for ROS2 Applications}, booktitle={Proceedings of the 2020 International Conference on Field-Programmable Technology (FPT)}, author={Lienen, Christian and Platzner, Marco and Rinner, Bernhard}, year={2020} }

Zeitschriftenaufsätze

Design of Distributed Reconfigurable Robotics Systems with ReconROS

C. Lienen, M. Platzner, ACM Transactions on Reconfigurable Technology and Systems (2021), pp. 1-20

DOI

@article{Lienen_Platzner_2021, title={Design of Distributed Reconfigurable Robotics Systems with ReconROS}, DOI={10.1145/3494571}, journal={ACM Transactions on Reconfigurable Technology and Systems}, author={Lienen, Christian and Platzner, Marco}, year={2021}, pages={1–20} }

Masterarbeiten

Implementing a Real-time System on a Platform FPGA operated with ReconOS

C. Lienen, Masterarbeit, Universität Paderborn, 2019

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@book{Lienen, title={Implementing a Real-time System on a Platform FPGA operated with ReconOS}, publisher={Universität Paderborn}, author={Lienen, Christian} }

thesis_main.pdf -

Preprint

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

C. Lienen, M. Platzner, 2022

@article{Lienen_Platzner_2022, title={ReconROS Executor: Event-Driven Programming of FPGA-accelerated ROS 2 Applications}, author={Lienen, Christian and Platzner, Marco}, year={2022} }

Design of Distributed Reconfigurable Robotics Systems with ReconROS

C. Lienen, M. Platzner, in: arXiv:2107.07208, 2021

Download

@article{Lienen_Platzner_2021, title={Design of Distributed Reconfigurable Robotics Systems with ReconROS}, journal={arXiv:2107.07208}, author={Lienen, Christian and Platzner, Marco}, year={2021} }

https://arxiv.org/abs/2107.07208