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  4. Hardware spiking neural network with run-time reconfigurable connectivity in an autonomous robot
 
conference paper

Hardware spiking neural network with run-time reconfigurable connectivity in an autonomous robot

Roggen, D.  
•
Hofmann, S.
•
Thoma, Y.  
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2003
NASA/DoD Conference on Evolvable Hardware (EH'2003)
NASA/DoD Conference on Evolvable Hardware (EH'2003)

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 and the hardware network are demonstrated in the form of a controller embedded on the Khepera robot for a task of obstacle avoidance. Finally, future implementations on new multi-cellular hardware are discussed.

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