Seamless Integration of Reconfigurable Hardware into the Robotic Development Process
In Proceedings of the 14th Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA-2017), 20.6.-22.6.2017, Leiden, ESA, 2017. ESA ESTEC.
Modern robotic development frameworks have agreed
upon the model-based, component-centric software development
approach. Composing robotic control software
has become an easier and less error-prone task.
While there is a model for the software architecture and
fairly recently a model for the kinematic structure of
robotic systems, models for other aspects are missing.
This paper will focus on the model of heterogeneous
computational resources and their interconnection within
a robot and outline how tools make use of the models
to generate code skeletons in different languages, find
compatible implementations of algorithms given a specific
target and to map a network of software to a network
of hardware components.