A 65-nm 8-to-3-b 1.0–0.36-V 9.1–1.1-TOPS/W Hybrid-Digital-Mixed-Signal Computing Platform for Accelerating Swarm Robotics

摘要

Low-power edge-intelligence is leading to spectacular advances in smart sensors, actuators, and human-machine interfaces. In particular, energy efficiency is driving key advances in robotics, where low-power computation is augmented with smart control and mechanical systems to enable small-sized and intelligent drones, unmanned aerial vehicles (UAVs), micro-sized cars, and so on with applications in surveillance, disaster relief, and reconnaissance. Furthermore, for a variety of tasks, swarms of robots are often used as opposed to the individual robots. This article presents an energy-efficient computing platform that can enable a sample class of algorithms for swarm robotics. We demonstrate that both physical-model-based algorithms as well as learning-based algorithms can be supported on the same computing platform. We also demonstrate that with changing swarm sizes, the number of bits required to compute also scales. We take advantage of this observation to propose a hybrid-digital-mixed-signal computing platform, whose energy efficiency scales with the resolution of the data path and hence the swarm size. Measurements on a 65-nm CMOS test-chip demonstrate a peak energy efficiency of 9.1 TOPS/W at a 3-b resolution, and it scales down to 1.1 TOPS/W at an 8-b resolution.