Live Demonstration: A Hardware Accelerated Robot Middleware Package for Intelligent Processing on Robots

Yutaro Ishida, Takashi Morie, Hakaru Tamukoh

Abstract: This live demonstration presents a "connective object for middleware to accelerator (COMTA)," an intelligent processing system that uses hardware accelerators (i.e., field programmable gate arrays (FPGAs)) and robot middleware. The key idea of COMTA is to automatically generate the system via robot middleware interfaces. To realize the proposed system, we have developed a block of programs called an "object" in a hardware/software complex system. We demonstrate an implementation of a human tracking image processing application on a vehicle robot accelerated by COMTA. The demonstration system achieved 3.3 times better power efficiency than a general PCs.