Dynamic Distributed Computing for Infrastructure-Assisted Autonomous UAVs
Dynamic Distributed Computing for Infrastructure-Assisted Autonomous UAVs
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DOI：
10.1109/icc40277.2020.9148986
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发表时间：
2020-06
期刊：
影响因子：
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通讯作者：
Davide Callegaro;S. Baidya;M. Levorato
中科院分区：
文献类型：
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作者：
Davide Callegaro;S. Baidya;M. Levorato
对信息丰富的信号的分析是自主性的核心。在诸如无人机（UAV）的机载设备中，由重量约束施加的硬件限制使得这些算法的连续执行具有挑战性。边缘计算可以缓解这些限制，并提高无人机的系统和使命性能。然而，由于无人机的运动特性和城市环境的复杂动力学，远程处理控制回路可以迅速退化。本文介绍了Hydra，在这个充满挑战的环境中的通信/计算资源的动态选择的框架。一个完整的开放源码的实现Hydra的讨论和测试，通过现实世界的实验。
The analysis of information rich signals is at the core of autonomy. In airborne devices such as Unmanned Aerial Vehicles (UAV), the hardware limitations imposed by the weight constraints make the continuous execution of these algorithms challenging. Edge computing can mitigate such limitations and boost the system and mission performance of the UAVs. However, due to the UAVs motion characteristics and complex dynamics of urban environments, remote processing-control loops can quickly degrade. This paper presents Hydra, a framework for the dynamic selection of communication/computation resources in this challenging environment. A full - open-source - implementation of Hydra is discussed and tested via real-world experiments.