License: Creative Commons Attribution 3.0 Unported license (CC-BY 3.0)
When quoting this document, please refer to the following
DOI: 10.4230/LIPIcs.ECRTS.2020.24
URN: urn:nbn:de:0030-drops-123874
URL: https://drops.dagstuhl.de/opus/volltexte/2020/12387/
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Farrukh, Anam ; West, Richard

smARTflight: An Environmentally-Aware Adaptive Real-Time Flight Management System

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LIPIcs-ECRTS-2020-24.pdf (2 MB)


Abstract

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.

BibTeX - Entry

@InProceedings{farrukh_et_al:LIPIcs:2020:12387,
  author =	{Anam Farrukh and Richard West},
  title =	{{smARTflight: An Environmentally-Aware Adaptive Real-Time Flight Management System}},
  booktitle =	{32nd Euromicro Conference on Real-Time Systems (ECRTS 2020)},
  pages =	{24:1--24:22},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-152-8},
  ISSN =	{1868-8969},
  year =	{2020},
  volume =	{165},
  editor =	{Marcus V{\"o}lp},
  publisher =	{Schloss Dagstuhl--Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/opus/volltexte/2020/12387},
  URN =		{urn:nbn:de:0030-drops-123874},
  doi =		{10.4230/LIPIcs.ECRTS.2020.24},
  annote =	{Keywords: adaptive real-time systems, safety criticality, flight controller, multi-rotor drones, environmental awareness}
}

Keywords: adaptive real-time systems, safety criticality, flight controller, multi-rotor drones, environmental awareness
Collection: 32nd Euromicro Conference on Real-Time Systems (ECRTS 2020)
Issue Date: 2020
Date of publication: 30.06.2020


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