CODA: a multiprocessor architecture for sensor fusion

CODA, a multiprocessor architecture designed for sensor fusion in real-time applications, is discussed. The hardware characteristics of CODA are scalability, high performance in computation and communication, and priority control for hard real-time processing. CODA consists of multiple identical processors connected by means of a packet exchange interconnection network. The network is a prioritized multistage router network which is priority inversion free. The unit processor is a register-based architecture and realizes data synchronization on a register by a proposed instruction insertion method. By this method, all incoming data call be efficiently handled on the execution pipeline.<
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