GRANT: Ground-Roaming Autonomous Neuromorphic Targeter

Conference · Wed Jul 01 04:00:00 EDT 2020

DOI:https://doi.org/10.1109/IJCNN48605.2020.9207276· OSTI ID:1671407

Ambrose, Jonathan ^[1]; Foshie, Adam ^[2]; Dean, Mark ^[1]; Plank, James ^[1]; Rose, Garrett ^[1]; Mitchell, Parker ^[3]; Schuman, Catherine ^[3]; Bruer, Grant ^[1]

---

1. University of Tennessee (UT)
2. University of Tennessee, Knoxville (UTK)
3. ORNL

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.

• Research Organization: Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States)
• Sponsoring Organization: USDOE; USDOE Office of Science (SC), Advanced Scientific Computing Research (ASCR) (SC-21)
• DOE Contract Number: AC05-00OR22725
• OSTI ID: 1671407
• Country of Publication: United States
• Language: English