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oai:drops-oai.dagstuhl.de:12387 2024-03-12T11:57:05Z ddc:004 open_access

smARTflight: An Environmentally-Aware Adaptive Real-Time Flight Management System Farrukh, Anam West, Richard adaptive real-time systems safety criticality flight controller multi-rotor drones environmental awareness Multi-rotor drones require real-time sensor data processing and control to maintain flight stability, which is made more challenging by external disturbances such as wind. In this paper we introduce smARTflight: an environmentally-aware adaptive real-time flight management system. smARTflight adapts the execution frequencies of flight control tasks according to timing and safety-critical constraints, in response to transient fluctuations of a drone’s attitude. In contrast to current state-of-the-art methods, smARTflight’s criticality-aware scheduler reduces the latency to return to a steady-state target attitude. The system also improves the overall control accuracy and lowers the frequency of adjustments to motor speeds to conserve power. A comparative case-study with a well-known autopilot shows that smARTflight reduces unnecessary control loop executions under stable conditions, while reducing response time latency by as much as 60% in a given axis of rotation when subjected to a 15° step attitude disturbance. Schloss Dagstuhl – Leibniz-Zentrum für Informatik Anam Farrukh and Richard West 2020 Is Part Of LIPIcs, Volume 165, 32nd Euromicro Conference on Real-Time Systems (ECRTS 2020) InProceedings Text doc-type:ResearchArticle publishedVersion application/pdf doi:10.4230/LIPIcs.ECRTS.2020.24 urn:nbn:de:0030-drops-123874 https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2020.24 eng https://creativecommons.org/licenses/by/3.0/legalcode