Dynamic Partial Reconfiguration (DPR) of FPGAs presents many opportunities for application design flexibility, enabling tasks to dynamically swap in and out of the FPGA without entire system interruption. In this paper, we will implement a line follower robot for the white line as well as for black line; both these modules will be programmed in VHDL. The robot will dynamically reconfigure the F...

Mobile robots are used to operate in urban environments, for surveillance, reconnaissance, and inspection, as well as for military operations and in hazardous environments. Some are intended for exploration of only natural terrains, but others also for artificial environments, including stairways. This paper presents a mobile robot design that achieves autonomous climbing and descending of stai...

For the actuators fault of reconfigurable modular robots, a backstepping decentralized fault tolerant control (DFTC) algorithm is proposed. The reconfigurable robot system is divied into a set of interconnected subsystems. The fault tolerant controller is designed based on backstepping method. It is hard to obtain the model parameters uncertainty term and interconnected term, so the adaptive fu...

A cellular hardware implementation of a spiking neural network with run-time reconfigurable connectivity is presented. It is implemented on a compact custom FPGA board which provides a powerful reconfigurable hardware platform for hardware and software design. Complementing the system, a CPU synthesized on the FPGA takes care of interfacing the network with the external world. The FPGA board an...

This paper presents GIMME (General Image Multiview Manipulation Engine), a highly flexible reconfigurable standalone mobile two-camera vision platform with stereo-vision capability. GIMME relies on reconfigurable hardware (FPGA) to perform application-specific low to medium-level imageprocessing at video-rate. A high-speed stereo-matching approach combining segmentation and 1D SAD for high accu...

Systems that can be reconfigured are valuable in situations where a single artifact must perform several different functions well, and are especially important in cases where system demands are not known a priori. Design of reconfigurable systems present unique challenges compared to fixed system design. Increasing reconfigurable capability improves system utility, but also increases system com...

As opposed to common claims, selfreconfigurable robots have not yet been realized. Self-reconfigurable robots are supposed to be selfreconfigurable, physical, distributed and autonomous. Self-reconfigurable in the sense that they can change their own shape by rearranging constituent modules. Physical in the sense that they function in the real world. Distributed in the sense that control is dis...

This paper deals with one of the current research fields developed by the computer architecture group at the University of Valencia. The work presented is concerned about the design of a reconfigurable module, designed with programmable logic, which can implement several interesting robot navigation algorithms. The use of reconfigurable logic in autonomous vehicles can be a good approach for ac...