Presentation
Invited: Automatic Hardware/Software Design for High-Speed Autonomous Unmanned Aerial Vehicles Guided by a Flight Model
DescriptionAutonomous Unmanned Aerial Vehicles (UAVs) are on the rise in the industrial and academic communities. Since most UAVs are severely size, weight, and power constrained, building computing for UAVs is challenging. Current domain-specific hardware/software design for UAVs mainly focuses on a single component in the whole system, such as visual-inertial odometry (VIO), depth estimation, and control, which lacks optimization of systematic flight performance. Thus, we conduct a complete computational analysis of each component during flight, and propose a systematic flight model considering the accuracy and latency from all key components. Guided by this model, an automatic exploration method in the algorithm space is implemented to find the optimal depth estimation and VIO algorithms for high-speed flight. We conduct experiments on an embedded GPU and an ASIC chip respectively, and hardware-in-the-loop flight simulations demonstrate that this model can help us find better design than baselines.
Event Type
Special Session (Research)
TimeTuesday, June 255:00pm - 5:30pm PDT
Location3006, 3rd Floor
Autonomous Systems