一句话：通过形式化无人机子系统并探索设计空间，量化计算对自主无人机资源权衡的影响。
自主无人机，尤其是四旋翼无人机，正广泛应用于商业与研究场景，但其必须在计算、能量和机电资源受限的条件下运行，设计约束与通用计算平台显著不同。现有工作多孤立地处理各子系统问题，无人机系统设计空间的权衡关系仍不清晰。为填补这一空白，本文形式化无人机的基本子系统，分析计算如何影响设计空间，并对自主无人机系统进行设计空间探索。作者以广泛使用的SLAM为例，在多种平台上开展研究，表明在FPGA上优化SLAM对无人机更有效。最后，为缓解公开实验无人机缺乏的问题，发布了可在硬件-软件栈上定制的开源无人机。
With fully autonomous flight capabilities coupled with user-specific applications, drones, in particular quadcopter drones, are becoming prevalent solutions in myriad commercial and research contexts. However, autonomous drones must operate within constraints and design considerations that are quite different from any other compute-based agent. At any given time, a drone must arbitrate among its limited compute, energy, and electromechanical resources. Despite huge technological advances in this area, each of these problems has been approached in isolation and drone systems design-space tradeoffs are largely unknown. To address this knowledge gap, we formalize the fundamental drone subsystems and find how computations impact this design space. We present a design-space exploration of autonomous drone systems and quantify how we can provide productive solutions. As an example, we study widely used simultaneous localization and mapping (SLAM) on various platforms and demonstrate that optimizing SLAM on FPGA is more fruitful for the drones. Finally, to address the lack of publicly available experimental drones, we release our open-source drone that is customizable across the hardware-software stack.
DOI 原文 ·
@inproceedings{paperbot6087,
title = {Quantifying the design-space tradeoffs in autonomous drones},
author = {Ramyad Hadidi and Bahar Asgari and Sam Jijina and Adriana Amyette and Nima Shoghi and Hyesoon Kim},
booktitle = {ASPLOS},
year = {2021},
doi = {10.1145/3445814.3446721}
}