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dc.contributor.authorFarrukh, Anamen_US
dc.contributor.authorWest, Richarden_US
dc.date.accessioned2021-09-21T14:12:31Z
dc.date.available2021-09-21T14:12:31Z
dc.date.issued2020-07-07
dc.identifier.citationAnam Farrukh, Richard West. 2020. "smARTflight: An Environmentally-Aware Adaptive Real-Time Flight Management System (Best Paper Award)." Proceedings - Euromicro Conference on Real-Time Systems. ECRTS. 2020-07-07 - 2020-07-10. https://doi.org/10.4230/LIPIcs.ECRTS.2020.24
dc.identifier.issn1068-3070
dc.identifier.urihttps://hdl.handle.net/2144/43041
dc.description.abstractMulti-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.en_US
dc.description.urihttps://www.cs.bu.edu/fac/richwest/papers/smARTflight-ecrts20.pdf
dc.description.urihttps://drops.dagstuhl.de/opus/volltexte/2020/12387/pdf/LIPIcs-ECRTS-2020-24.pdf
dc.language.isoen_US
dc.relation.ispartofProceedings - Euromicro Conference on Real-Time Systems
dc.rights© Anam Farrukh and Richard West; licensed under Creative Commons License CC-BY.en_US
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectAdaptive real-time systemsen_US
dc.subjectSafety criticalityen_US
dc.subjectFlight controlleren_US
dc.subjectMulti-rotor dronesen_US
dc.subjectEnvironmental awarenessen_US
dc.titlesmARTflight: an environmentally-aware adaptive real-time flight management system (best paper award)en_US
dc.typeConference materialsen_US
dc.identifier.doi10.4230/LIPIcs.ECRTS.2020.24
pubs.elements-sourcemanual-entryen_US
pubs.notesEmbargo: Not knownen_US
pubs.organisational-groupBoston Universityen_US
pubs.organisational-groupBoston University, College of Arts & Sciencesen_US
pubs.organisational-groupBoston University, College of Arts & Sciences, Department of Computer Scienceen_US
pubs.publication-statusPublisheden_US
dc.description.oaversionPublished version
dc.identifier.mycv615573


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© Anam Farrukh and Richard West; licensed under Creative Commons License CC-BY.
Except where otherwise noted, this item's license is described as © Anam Farrukh and Richard West; licensed under Creative Commons License CC-BY.