CRI: CI-New: Collaborative Research: Extensible, Software Enabled Unmanned Aerial Vehicles

CRI：CI-New：协作研究：可扩展、软件支持的无人机

• 批准号: 1823230
• 负责人: Lukasz Ziarek
• 金额: $ 55.09万
• 依托单位: SUNY at Buffalo
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2018
• 资助国家: 美国
• 起止时间: 2018-10-01 至 2022-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1823230&HistoricalAwards=false
• 关键词: CRI; CI; New; Collaborative; Research

Unmanned aerial vehicles (UAVs) are an emerging computing platform increasingly becoming common in our society. Unfortunately, most UAV systems today are either proprietary, or specific to goals of aviation and robotic missions. This project will develop an open-source and extensible software infrastructure for UAVs to promote research and education of this exciting technology.The proposal will result in an infrastructure to allow for extensible UAV software design across the computing stack, spanning operating systems (OS), virtual machines (VM), compilers, programming languages, and applications. This significantly shifts the focus of state of the art of UAV software where refined support is limited to hardware drivers and robotics control, OS/VM support is primitive, and high-level Application Programming Interface is minimal. The resulting infrastructure will promote whole-stack extensibility, portability, resource awareness, and application friendliness of UAV systems. The infrastructure will enable researchers from non- UAV specific domains to conduct research on the platform.The infrastructure will impact researchers spanning areas of avionics, robotics, real-time systems, programming languages, and software engineering. Other beneficiaries of the proposed infrastructure include students and UAV users. The technologies developed under this award will provide training and research opportunities for Ph.D. students, master's students, and advanced undergraduates in UAV education. UAVs, robotics, and aviation are interesting and exciting to k-12 students. The artifacts from this project will be tailored for student outreach.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

无人机（UAV）是一种新兴的计算平台，在我们的社会中越来越普遍。不幸的是，今天大多数无人机系统要么是专有的，要么是针对航空和机器人任务的目标。该项目将为无人机开发一个开源和可扩展的软件基础设施，以促进这一令人兴奋的技术的研究和教育。该提案将产生一个基础设施，以允许跨计算堆栈的可扩展无人机软件设计，跨越操作系统（OS），虚拟机（VM），编译器，编程语言和应用程序。这显著地改变了UAV软件的最新技术的焦点，其中精细的支持仅限于硬件驱动程序和机器人控制，OS/VM支持是原始的，并且高级应用程序编程接口是最小的。由此产生的基础设施将促进整个堆栈的可扩展性，可移植性，资源意识和无人机系统的应用友好性。该基础设施将使非无人机特定领域的研究人员能够在该平台上进行研究。该基础设施将影响航空电子设备，机器人，实时系统，编程语言和软件工程等领域的研究人员。拟议基础设施的其他受益者包括学生和无人机用户。该奖项下开发的技术将为博士提供培训和研究机会。学生、硕士生和高年级本科生的无人机教育。无人机，机器人和航空是有趣和令人兴奋的K-12学生。该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

JCopter: Reliable UAV Software Through Managed Languages

JCopter：通过托管语言提供可靠的无人机软件

• DOI: 10.1109/iros51168.2021.9636617
• 发表时间: 2021
• 期刊: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
• 作者: Czerniejewski, Adam;Burns, John Henry;Ghanei, Farshad;Dantu, Karthik;Liu, Yu David;Ziarek, Lukasz
• 通讯作者: Ziarek, Lukasz

Edge-SLAM: Edge-Assisted Visual Simultaneous Localization and Mapping

• DOI: 10.1145/3561972
• 发表时间: 2020-06
• 期刊: ACM Transactions on Embedded Computing Systems
• 影响因子: 2
• 作者: Ali J. Ben Ali-Ali-J.-Ben-Ali-46653644;Z. S. Hashemifar;Karthik Dantu

Understanding Bounding Functions in Safety-Critical UAV Software

了解安全关键型无人机软件中的边界功能

• DOI: 10.1109/icse43902.2021.00119
• 发表时间: 2021
• 期刊: 2021 IEEE/ACM 43rd International Conference on Software Engineering (ICSE
• 作者: Liang, Xiaozhou;Burns, John Henry;Sanchez, Joseph;Dantu, Karthik;Ziarek, Lukasz;Liu, Yu David
• 通讯作者: Liu, Yu David