Time Predictable and Fault-tolerant Software Framework for Multicore UAVs

Future UAVs will perform complex and computationally demanding real-time tasks -- such as vision based SLAM, optical flow, and radar signal processing -- to achieve a high degree of autonomy. To this end, commodity off-the-shelf (COTS) heterogeneous multicore processors, which can be found in smartphones and tablets, will play a key role as they can provide enormous computing capacity without sacrificing size, weight, and power (SWaP) constraints of UAVs. For example, Nvidia’s recent mobile processor includes 4 ARM CPU cores, each up to 2.3GHz, and 192GPU cores that can deliver 365GFLOPs in just 5W power envelope. We are building a powerful multicore based UAV testbed and a software framework that provides predictable timing guarantees among demanding UAV applications.