MPSoC4Drones: An Open Framework for ROS2, PX4, and FPGA Integration

Frederik Falk Nyboe*, Nicolaj Haarhoj Malle, Emad Ebeid

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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Abstract

Autonomous drones are facing a tough efficiency challenge due to limitations on the utilized processing hardware units. Among these limitations is the tradeoff between fast computing and low power consumption; between functional complexity and flight time. Recent progressions point to FPGAs for accelerating heavy processing. In this work, we present the MPSoC4Drones Framework; a novel framework for organizing FPGA-design and OS build projects. The framework combines tools for creating bootable images for the Ultra96-V2 board.We show how MPSoC4Drones organizes the build, combining the latest well-known tools for research and industrial drone development, Ubuntu 20.04, PX4 autopilot, and ROS2 middleware. We validate the framework through a computationally intensive deep learning use case implemented in the MPSoC4Drones framework. We show the superior throughput and low power consumption of FPGA processing compared to classical CPU and GPU approaches. Finally, we offer the full framework as open-source.

Original languageEnglish
Title of host publication2022 International Conference on Unmanned Aircraft Systems (ICUAS)
PublisherIEEE
Publication date2022
Pages1246-1255
ISBN (Electronic)9781665405935
DOIs
Publication statusPublished - 2022
Event2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022 - Dubrovnik, Croatia
Duration: 21. Jun 202224. Jun 2022

Conference

Conference2022 International Conference on Unmanned Aircraft Systems, ICUAS 2022
Country/TerritoryCroatia
CityDubrovnik
Period21/06/202224/06/2022
SeriesProceedings of International Conference on Unmanned Aircraft Systems
ISSN2575-7296

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