Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Adaptive Computing in Robotics, Leveraging ROS 2 to Enable
  Software-Defined Hardware for FPGAs   Traditional software development in robotics is about programming
functionality in the CPU of a given robot with a pre-defined architecture and
constraints. With adaptive computing, instead, building a robotic behavior is
about programming an architecture. By leveraging adaptive computing,
roboticists can adapt one or more of the properties of its computing systems
(e.g. its determinism, power consumption, security posture, or throughput) at
run time. Roboticists are not, however, hardware engineers, and embedded
expertise is scarce among them. This white paper adopts a ROS 2
roboticist-centric view for adaptive computing and proposes an architecture to
include FPGAs as a first-class participant of the ROS 2 ecosystem. The
architecture proposed is platform- and technology-agnostic, and is easily
portable. The core components of the architecture are disclosed under an Apache
2.0 license, paving the way for roboticists to leverage adaptive computing and
create software-defined hardware.

10
The categories of this paper are: q-bio
4
The categories of this paper are: cond-mat
18
The categories of this paper are: econ
8
The categories of this paper are: hep-ex
16
The categories of this paper are: stat
7
The categories of this paper are: hep-th
35
The categories of this paper are: mtrl-th
24
The categories of this paper are: dg-ga
37
The categories of this paper are: supr-con
25
The categories of this paper are: patt-sol
14
The categories of this paper are: math-ph
6
The categories of this paper are: astro-ph
34
The categories of this paper are: chem-ph
0
The categories of this paper are: hep-ph
33
The categories of this paper are: plasm-ph
5
The categories of this paper are: gr-qc