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Bluetooth Configuration of an FPGA: An Application to Modular Robotics

Self-reconfigurable modular robotics represents a new approach to robotic hardware. Instead of being designed as a huge centralized system, the “robot” is composed of many simple, identical, interacting modules. With the help of some computation, sensing and communication capabilities, self-reconfiguring robots should be able to adapt their morphology to the environment in order to fulfill a desired task. The Biologically Inspired Group (BIRG) of the Swiss Federal Institute of Technology in Lausanne (EPFL) has developed a brand new Modular Robot called YaMoR. Each module contains an FPGA, a Bluetooth board, a power board, two batteries and a servo-motor. Assembling the modules together, a centralized Java application can supervise the overall movement via Bluetooth. The aim of the current semester project is to study the unexploited programming potential of the Bluetooth board, containing an ARM core, some Flash and some SRAM. In particular, we show how we can configure the FPGA board wirelessly.