Enabling reconfigurable hardware acceleration for ROS-based robotics applications / by Christian Lienen ; [Supervisors: Prof. Dr. Marco Platzner, Reviewers: Prof. Dr. Marco Platzner, Prof. Dr. Erdal Kayacan, Oral examination committee: Prof. Dr. Marco Platzner, Prof. Dr.-Ing. Roman Dumitrescu, Prof. Dr. Erdal Kayacan, Prof. Dr. Stefan Sauer, Dr. Tobias Kenter]