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Traditional software development in robotics is about programmingfunctionality in the CPU of a given robot with a pre-defined architecture andconstraints. With adaptive computing, instead, building a robotic behavior isabout programming an architecture. By leveraging adaptive computing,roboticists can adapt one or more of the properties of its computing systems(e.g. its determinism, power consumption, security posture, or throughput) atrun time. Roboticists are not, however, hardware engineers, and embeddedexpertise is scarce among them. This white paper adopts a ROS 2roboticist-centric view for adaptive computing and proposes an architecture toinclude FPGAs as a first-class participant of the ROS 2 ecosystem. Thearchitecture proposed is platform- and technology-agnostic, and is easilyportable. The core components of the architecture are disclosed under an Apache2.0 license, paving the way for roboticists to leverage adaptive computing andcreate software-defined hardware.

Adaptive Computing in Robotics, Leveraging ROS 2 to Enable Software-Defined Hardware for FPGAs