System-on-Chip Field-Programmable Gate Arrays (SoC-FPGAs) offer significant throughput gains for machine learning (ML) edge inference applications via the design of co-processor accelerator systems. However, the design effort for training and translating ML models into SoC-FPGA solutions can be substantial and requires specialist knowledge aware trade-offs between model performance, power consumption, latency and resource utilization. Contrary to other ML algorithms, Tsetlin Machine (TM) performs classification by forming logic proposition between boolean actions from the Tsetlin Automata (the learning elements) and boolean input features. A trained TM model, usually, exhibits high sparsity and considerable overlapping of these logic propositions both within and among the classes. The model, thus, can be translated to RTL-level design using a miniscule number of AND and NOT gates. This paper presents MATADOR, an automated boolean-to-silicon tool with GUI interface capable of implementing optimized accelerator design of the TM model onto SoC-FPGA for inference at the edge. It offers automation of the full development pipeline: model training, system level design generation, design verification and deployment. It makes use of the logic sharing that ensues from propositional overlap and creates a compact design by effectively utilizing the TM model's sparsity. MATADOR accelerator designs are shown to be up to 13.4x faster, up to 7x more resource frugal and up to 2x more power efficient when compared to the state-of-the-art Quantized and Binary Deep Neural Network implementations.

The problem of finding conflict-free trajectories for multiple agents of identical circular shape, operating in shared 2D workspace, is addressed in the paper and decoupled, e.g., prioritized, approach is used to solve this problem. Agents' workspace is tessellated into the square grid on which any-angle moves are allowed, e.g. each agent can move into an arbitrary direction as long as this move follows the straight line segment whose endpoints are tied to the distinct grid elements. A novel any-angle planner based on Safe Interval Path Planning (SIPP) algorithm is proposed to find trajectories for an agent moving amidst dynamic obstacles (other agents) on a grid. This algorithm is then used as part of a prioritized multi-agent planner AA-SIPP(m). On the theoretical side, we show that AA-SIPP(m) is complete under well-defined conditions. On the experimental side, in simulation tests with up to 250 agents involved, we show that our planner finds much better solutions in terms of cost (up to 20%) compared to the planners relying on cardinal moves only.