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Event-based PID controller fully realized in neuromorphic hardware: a one DoF study


Stagsted, R K; Vitale, A; Renner, A; Larsen, L B; Christensen, A L; Sandamirskaya, Yulia (2020). Event-based PID controller fully realized in neuromorphic hardware: a one DoF study. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 25 October 2020 - 29 October 2020, IEEE.

Abstract

Spiking Neuronal Networks (SNNs) realized inneuromorphic hardware lead to low-power and low-latency neuronal computing architectures. Neuromorphic computing systems are most efficient when all of perception, decision making, and motor control are seamlessly integrated into a single neuronal architecture that can be realized on the neuromorphic hardware. Many neuronal network architectures address the perception tasks, while work on neuronal motor controllers is scarce. Here, we present an improved implementation of a neuromorphic PID controller. The controller was realized on Intel’s neuromorphic research chip Loihi and its performance tested on a drone, constrained to rotate on a single axis. The SNN controller is built using neuronal populations, in which a single spike carries information about sensed and control signals. Neuronal arrays perform computation on such sparse representations to calculate the proportional, derivative, and integral terms. The SNN PID controller is compared to a PID controller, implemented in software, and achieves a comparable performance, paving the way to a fully neuromorphic systemin which perception, planning, and control are realized in a non-chip SNN.

Abstract

Spiking Neuronal Networks (SNNs) realized inneuromorphic hardware lead to low-power and low-latency neuronal computing architectures. Neuromorphic computing systems are most efficient when all of perception, decision making, and motor control are seamlessly integrated into a single neuronal architecture that can be realized on the neuromorphic hardware. Many neuronal network architectures address the perception tasks, while work on neuronal motor controllers is scarce. Here, we present an improved implementation of a neuromorphic PID controller. The controller was realized on Intel’s neuromorphic research chip Loihi and its performance tested on a drone, constrained to rotate on a single axis. The SNN controller is built using neuronal populations, in which a single spike carries information about sensed and control signals. Neuronal arrays perform computation on such sparse representations to calculate the proportional, derivative, and integral terms. The SNN PID controller is compared to a PID controller, implemented in software, and achieves a comparable performance, paving the way to a fully neuromorphic systemin which perception, planning, and control are realized in a non-chip SNN.

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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:07 Faculty of Science > Institute of Neuroinformatics
Dewey Decimal Classification:570 Life sciences; biology
Scopus Subject Areas:Physical Sciences > Control and Systems Engineering
Physical Sciences > Software
Physical Sciences > Computer Vision and Pattern Recognition
Physical Sciences > Computer Science Applications
Language:English
Event End Date:29 October 2020
Deposited On:16 Feb 2021 08:32
Last Modified:25 Feb 2022 08:51
Publisher:IEEE
OA Status:Green
Publisher DOI:https://doi.org/10.1109/IROS45743.2020.9340861

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