Fabio Federici (United Technologies Research Center Italy), Giulio Mose’ Mancuso (United Technologies Research Center Italy)
This talk will focus on the analysis and tradeoff exploration of a hardware and software architecture for mixed-critical robotics applications. Specifically, we will consider the use of heterogeneous hardware platforms (i.e. System on Chip including CPUs, GPUs and FPGAs) , and we will define a software architecture allowing a seamless exploitation of these platforms under mixed real-time, safety and reliability requirements. We will show how ROS can be safely i ntegrated into this platform by adopting an appropriate resource partitioning. Possible benefits of using ROS2 in order to achieve predictability and real-time performance will also be analyzed.