Imrie, Calum Corrie, Howard, Rhys, Thuremella, Divya et al. (8 more authors) (2024) Aloft: Self-Adaptive Drone Controller Testbed. In: SEAMS '24: Proceedings of the 19th Symposium on Software Engineering for Adaptive and Self-Managing Systems. 19th International Conference on Software Engineering for Adaptive and Self-Managing Systems, 15-16 Apr 2024 ACM , PRT
Abstract
Aerial drones are increasingly being considered as a valuable tool for inspection in safety critical contexts. Nowhere is this more true than in mining operations which present a dynamic and dangerous environment for human operators. Drones can be deployed in a number of contexts including efficient surveying as well as search and rescue missions. Operating in these dynamic contexts is challenging however and requires the drones control software to detect and adapt to conditions at run-time. To help in the development of such systems we present Aloft, a simulation supported testbed for investigating self-adaptive controllers for drones in mines. Aloft, utilises the Robot Operating system (ROS) and a model environment using Gazebo to provide a physics-based testing. The simulation environment is constructed from a 3D point cloud collected in a physical mock-up of a mine and contains features expected to be found in real-world contexts. Aloft allows members of the research community to deploy their own self-adaptive controllers into the control loop of the drone to evaluate the effectiveness and robustness of controllers in a challenging environment. To demonstrate our system we provide a self-adaptive drone controller and operating scenario as an exemplar. The self-adaptive drone controller provided, utilises a two-layered architecture with a MAPE-K feedback loop. The scenario is an inspection task during which we inject a communications failure. The aim of the controller is to detect this loss of communication and autonomously perform a return home behaviour. Limited battery life presents a constraint on the mission, which therefore means that the drone should complete its mission as fast as possible. Humans, however, might also be present within the environment. This poses a safety risk and the drone must be able to avoid collisions during autonomous flight. In this paper we describe the controller framework and the simulation environment and provide information on how a user might construct and evaluate their own controllers in the presence of disruptions at run-time.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | This is an author-produced version of the published paper. Uploaded in accordance with the University’s Research Publications and Open Access policy. |
Dates: |
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Institution: | The University of York |
Academic Units: | The University of York > Faculty of Sciences (York) > Computer Science (York) |
Depositing User: | Pure (York) |
Date Deposited: | 19 Mar 2024 08:40 |
Last Modified: | 13 Dec 2024 00:20 |
Status: | Published |
Publisher: | ACM |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:210487 |