GRANT: Ground-Roaming Autonomous Neuromorphic Targeter

In this work we describe the design, implementation, and testing of the first neuromorphic robot capable of obstacle avoidance, grid coverage, and targeting controlled by the second generation Dynamic Adaptive Neural Network Array (DANNA2) digital spiking neuromorphic processor. The simplicity of th...

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Bibliographic Details
Main Authors: Ambrose, Jonathan D., Foshie, Adam Z., Dean, Mark E., Plank, James S., Rose, Garrett S., Mitchell, J. Parker, Schuman, Catherine D., Bruer, Grant
Format: Conference Proceeding
Language:English
Subjects:
Autonomous Robots
Biological neural networks
Field programmable gate arrays
Field-programmable Gate Array
Neon
Neural Network Hardware
Neuromorphic
Neuromorphics
Neurons
Recurrent Spiking Neural Networks
Robot Control
Robot sensing systems
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Summary:In this work we describe the design, implementation, and testing of the first neuromorphic robot capable of obstacle avoidance, grid coverage, and targeting controlled by the second generation Dynamic Adaptive Neural Network Array (DANNA2) digital spiking neuromorphic processor. The simplicity of the DANNA2 processor along with the TENNLab hardware/software co-design framework allows for compact spiking networks that can run efficiently on a small, resource-constrained, platform such as a Xilinx Artix-7 field-programmable gate array. Additionally, we present the dynamic reconfigurability of DANNA2 arrays as a method of realizing complex, multi-objective tasks on hardware that is restricted to relatively small networks.
ISSN:2161-4407
DOI:10.1109/IJCNN48605.2020.9207276