Integrating an MPSoC to a Robotics Environment

• Anderson Domingues PUCRS
• Darlan Jurak PUCRS
• Sergio Filho PUCRS
• Alexandre Amory PUCRS

Resumo

Multiprocessor system-on-chip (MPSoC) have been successfully used to speed up the processing of parallel, computing-intensive applications. Many domains could benefit from such processing power, including the one of robotics, in which several tasks, from image processing to odometry, may compete for resources at the same time as they cooperate to achieve system's goals. This paper presents the preliminary results on the integration of an MPSoC to a robotics environment through co-simulation. We developed wrappers to permit two simulators to communicate via UDP networks; While one simulator carries out environmental physics, the other one simulates the underlying MPSoC platform. We provide a proof-of-concept based on a synthetic random-walk application along with a performance analysis of the environment. With this environment, we move towards the evaluation of non-functional requirements of robotics applications, such as energy consumption.

Palavras-chave: Robots, Bridges, Libraries, Task analysis, Protocols, Computer architecture, Hardware