Robert Patton, Catherine Schuman, Shruti R. Kulkarni, Maryam Parsa, J. Parker Mitchell, N. Quentin Haas, Christopher Stahl, Spencer Paulissen, Prasanna Date, Thomas Potok and Shay Snyder

July, 2021

ICONS: International Conference on Neuromorphic Systems

https://doi.org/10.1145/3477145.3477170

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Abstract

Neuromorphic computing has many opportunities in future autonomous systems, especially those that will operate at the edge. However, there are relatively few demonstrations of neuromorphic implementations on real-world applications, partly because of the lack of availability of neuromorphic hardware and software, but also because of the lack of availability of an accessible demonstration platform. In this work, we propose utilizing the F1Tenth platform as an evaluation task for neuromorphic computing. F1Tenth is a competition wherein one tenth scale cars compete in an autonomous racing task; there are significant open source resources in both software and hardware for realizing this task. We present a workflow with neuromorphic hardware, software, and training that can be used to develop a spiking neural network for neuromorphic hardware deployment to perform autonomous racing. We present initial results on utilizing this approach for this small-scale, real-world autonomous vehicle task.

Citation Information

Text

author       R. Patton and C. D. Schuman and S. R. Kulkarni and M. Parsa and J. P. Mitchell 
             and N. Q. Haas and C. Stahl and S. Paulissen and P. Date and T. Potok and S. Snyder
title        Neuromorphic Computing for Autonomous Racing
booktitle    International Conference on Neuromorphic Computing Systems (ICONS)
publisher    ACM
pages        1-8
year         2021
url          https://doi.org/10.1145/3477145.3477170
doi          10.1145/3477145.3477170

Bibtex

@INPROCEEDINGS{psk:21:nca,
    author = "R. Patton and C. D. Schuman and S. R. Kulkarni and M. Parsa and J. P. Mitchell 
                 and N. Q. Haas and C. Stahl and S. Paulissen and P. Date and T. Potok and S. Snyder",
    title = "Neuromorphic Computing for Autonomous Racing",
    booktitle = "International Conference on Neuromorphic Computing Systems (ICONS)",
    publisher = "ACM",
    pages = "1-8",
    year = "2021",
    url = "https://doi.org/10.1145/3477145.3477170",
    doi = "10.1145/3477145.3477170"
}