onr:"swepub:oai:DiVA.org:ri-43912"
Search: onr:"swepub:oai:DiVA.org:ri-43912" > Reactive control of...
- 1 of 1
- Previous record
- Next record
- To hitlist
Reactive control of autonomous drones
-
- Bregu, Endri (author)
- Politecnico di Milano, Italy
-
- Casamassima, Nicola (author)
- Politecnico di Milano, Italy
-
- Cantoni, Daniel (author)
- Politecnico di Milano, Italy
- show more...
- show less...
- (creator_code:org_t)
- 2016-06-20
- 2016
- English.
- In: MobiSys 2016 - Proceedings of the 14th Annual International Conference on Mobile Systems, Applications, and Services. - New York, NY, USA : Association for Computing Machinery, Inc. - 9781450342698 ; , s. 207-219
- Conference paper (peer-reviewed)
Abstract
Subject headings
Close
- 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.
Keyword
- 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
Publication and Content Type
- ref (subject category)
- kon (subject category)
Find in a library
- MobiSys 2016 - Proceedings of the 14th Annual International Conference on Mobile... (Search for host publication in LIBRIS)
To the university's database
- 1 of 1
- Previous record
- Next record
- To hitlist
Find more in SwePub
- By the author/editor
- Bregu, Endri
- Casamassima, Nic ...
- Cantoni, Daniel
- Mottolay, Luca
- Whitehouse, Kami ...
- Articles in the publication
- MobiSys 2016 - P ...
- By the university
- RISE
Search outside SwePub
- Extend your search to:
- Google Book Search
- Google Scholar
Kungliga biblioteket hanterar dina personuppgifter i enlighet med EU:s dataskyddsförordning (2018), GDPR. Läs mer om hur det funkar här.
Så här hanterar KB dina uppgifter vid användning av denna tjänst.
- Copyright © LIBRIS - National Library Systems
- LIBRIS.kb.se
