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Title: NeoN: Neuromorphic Control for Autonomous Robotic Navigation

Abstract

In this paper we describe the use of a new neuromorphic computing framework to implement the navigation system for a roaming, obstacle avoidance robot. Using a Dynamic Adaptive Neural Network Array (DANNA) structure, our TENNLab (Laboratory of Tennesseans Exploring Neural Networks) hardware/software co-design framework and evolutionary optimization (EO) as the training algorithm, we create, train, implement, and test a spiking neural network autonomous robot control system using an array of neuromorphic computing elements built on an FPGA. The simplicity and flexibility of the DANNA neuromorphic computing elements allow for sufficient scale and connectivity on a Xilinx Kintex-7 FPGA to support sensory input and motor control for a mobile robot to navigate a dynamically changing environment. We further describe how more complex capabilities can be added using the same platform, e.g. object identification and tracking.

Authors:
 [1];  [1];  [1];  [1];  [1]; ORCiD logo [2]
  1. University of Tennessee (UT)
  2. ORNL
Publication Date:
Research Org.:
Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
Sponsoring Org.:
USDOE
OSTI Identifier:
1423018
DOE Contract Number:  
AC05-00OR22725
Resource Type:
Conference
Resource Relation:
Conference: IEEE International Symposium on Robotics and Intelligent Sensors - Ottawa, , Canada - 10/5/2017 4:00:00 AM-10/7/2017 4:00:00 AM
Country of Publication:
United States
Language:
English

Citation Formats

Mitchell, J. Parker, Bruer, Grant, Dean, Mark, Plank, James, Rose, Garrett, and Schuman, Catherine D. NeoN: Neuromorphic Control for Autonomous Robotic Navigation. United States: N. p., 2018. Web. doi:10.1109/IRIS.2017.8250111.
Mitchell, J. Parker, Bruer, Grant, Dean, Mark, Plank, James, Rose, Garrett, & Schuman, Catherine D. NeoN: Neuromorphic Control for Autonomous Robotic Navigation. United States. doi:10.1109/IRIS.2017.8250111.
Mitchell, J. Parker, Bruer, Grant, Dean, Mark, Plank, James, Rose, Garrett, and Schuman, Catherine D. Mon . "NeoN: Neuromorphic Control for Autonomous Robotic Navigation". United States. doi:10.1109/IRIS.2017.8250111. https://www.osti.gov/servlets/purl/1423018.
@article{osti_1423018,
title = {NeoN: Neuromorphic Control for Autonomous Robotic Navigation},
author = {Mitchell, J. Parker and Bruer, Grant and Dean, Mark and Plank, James and Rose, Garrett and Schuman, Catherine D.},
abstractNote = {In this paper we describe the use of a new neuromorphic computing framework to implement the navigation system for a roaming, obstacle avoidance robot. Using a Dynamic Adaptive Neural Network Array (DANNA) structure, our TENNLab (Laboratory of Tennesseans Exploring Neural Networks) hardware/software co-design framework and evolutionary optimization (EO) as the training algorithm, we create, train, implement, and test a spiking neural network autonomous robot control system using an array of neuromorphic computing elements built on an FPGA. The simplicity and flexibility of the DANNA neuromorphic computing elements allow for sufficient scale and connectivity on a Xilinx Kintex-7 FPGA to support sensory input and motor control for a mobile robot to navigate a dynamically changing environment. We further describe how more complex capabilities can be added using the same platform, e.g. object identification and tracking.},
doi = {10.1109/IRIS.2017.8250111},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2018},
month = {1}
}

Conference:
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