Software design for dual-computer configuration of aerial robots
Name
1193017762-MIT.pdf
Size
234.47 KB
Format
Adobe PDF
Checksum (MD5)
cbfa77b237fa5fc8ec2ff781887d122e
Author(s)
Quilter, Sebastian Andrés.
Advisor(s)
Sertac Karaman.
Date Issued
2020
Publisher
Massachusetts Institute of Technology
Abstract
Recent advances in computing have lead to low-power computers with powerful graphics processing units that can fit on common micro aerial robotics platforms. These computers carry the computational firepower to run complex algorithms, including deep learning tasks and vision-based state estimation. However, they typically lack the hardware and software for real-time control and state estimation, which is critical in aerial robotics applications. An effective solution to this problem is a dual-computer design which splits the workload between a timing-critical microcontroller and a high-performance processor. This thesis describes the implementation of certain pieces of software for this design, and the communication between the two processors.
Description
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, May, 2020
Cataloged from the official PDF of thesis.
Includes bibliographical references (page 31).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.
Persistent DSpace Link
