Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Reactive control of autonomous drones
Politecnico di Milano, Italy.
Politecnico di Milano, Italy.
Politecnico di Milano, Italy.
RISE, Swedish ICT, SICS. Politecnico di Milano, Italy.
Show others and affiliations
2016 (English)In: MobiSys 2016 - Proceedings of the 14th Annual International Conference on Mobile Systems, Applications, and Services, Association for Computing Machinery, Inc , 2016, p. 207-219Conference paper, Published paper (Refereed)
Abstract [en]

Aerial drones, ground robots, and aquatic rovers enable mobile applications that no other technology can realize with comparable flexibility and costs. In existing platforms, the low-level control enabling a drone's autonomous movement is currently realized in a time-triggered fashion, which simplifies implementations. In contrast, we conceive a notion of reactive control that supersedes the time-triggered approach by leveraging the characteristics of existing control logic and of the hardware it runs on. Using reactive control, control decisions are taken only upon recognizing the need to, based on observed changes in the navigation sensors. As a result, the rate of execution dynamically adapts to the circumstances. Compared to time-triggered control, this allows us to: i) attain more timely control decisions, ii) improve hardware utilization, iii) lessen the need to overprovision control rates. Based on 260+ hours of real-world experiments using three aerial drones, three different control logic, and three hardware platforms, we demonstrate, for example, up to 41% improvements in control accuracy and up to 22% improvements in flight time.

Place, publisher, year, edition, pages
Association for Computing Machinery, Inc , 2016. p. 207-219
Keywords [en]
Computer circuits, Drones, Hardware, Reconfigurable hardware, Robots, Unmanned aerial vehicles (UAV), Autonomous movement, Control decisions, Hardware platform, Hardware utilization, Low level control, Mobile applications, Navigation sensors, Real world experiment, Aircraft control
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:ri:diva-43912DOI: 10.1145/2906388.2906410Scopus ID: 2-s2.0-84979920485ISBN: 9781450342698 (print)OAI: oai:DiVA.org:ri-43912DiVA, id: diva2:1393034
Conference
14th Annual International Conference on Mobile Systems, Applications, and Services, MobiSys 2016, 25 June 2016 through 30 June 2016
Available from: 2020-02-14 Created: 2020-02-14 Last updated: 2020-02-19Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus
By organisation
SICS
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 1 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
v. 2.35.10