A Survey on Adaptive Computing in Robotics: Modelling, Methods and Applications

Research output: Contribution to journalResearch articleContributedpeer-review



Modern robots are complex heterogeneous systems composed of different Processing Elements (PEs) with multiple sensors and actuators. This implies that different experts are needed to build such systems. Traditionally, robots included Central Processing Units (CPUs) as their PE. However, this has been changing over the last decade as different PEs, namely Graphics Processing Units (GPUs) and Field Programmable Gate Arrays (FPGAs), have drawn the attention of roboticists. The research community focused on various techniques, methodologies, and applications separately, making integration aspects highly complex. Models, as abstractions, have been proposed to aid in designing complex systems that can also help with integration. Hence, three complementary goals are discussed in this work. The first is which robotic applications benefit from parallelizable and energy-efficient devices such as GPUs and FPGAs. The second one is to understand the contributions of different model-based approaches. Lastly, how these two can complement each other to bring benefits from one field onto the other so hardware developers, as well as roboticists, can improve the design of state-of-the-art robotic platforms.


Original languageEnglish
Pages (from-to)53830-53849
Number of pages20
JournalIEEE Access
Publication statusPublished - 2023

External IDs

Mendeley ed270b0f-360e-3114-9d07-eab203b062d8
dblp journals/access/PodlubneG23
Scopus 85161085713
ORCID /0000-0003-2571-8441/work/142240573


Research priority areas of TU Dresden


  • Computational modeling, FPGAs, Field programmable gate arrays, GPUs, Graphics processing units, Model-Driven Engineering, Modeling, Robot sensing systems, Robotics, Robots, Sensors, field programmable gate arrays (FPGAs), robotics, graphics processing units (GPUs), Model-driven engineering (MDE)