INCA: INterruptible CNN accelerator for multi-tasking in embedded robots

In recent years, Convolutional Neural Network (CNN) has been widely used in robotics, which has dramatically improved the perception and decision-making ability of robots. A series of CNN accelerators have been designed to implement energy-efficient CNN on embedded systems. However, despite the high energy efficiency on CNN accelerators, it is difficult for robotics developers to use it. Since the various functions on the robot are usually implemented independently by different developers, simultaneous access to the CNN accelerator by these multiple independent processes will result in hardware resources conflicts.