![]() We present a dual-sandbox prototype configuration, where timing-and safety-critical flight control tasks execute in a real-time OS alongside mission-critical vision-based navigation tasks in a Linux sandbox. FlyOS is based on a separation kernel that statically partitions resources among virtualized sandboxed OSes. In response to these challenges, we propose FlyOS, an Integrated Modular Avionics (IMA) approach to consolidate mixed-criticality flight functions in software on heterogeneous multicore aerial platforms. ![]() In turn, such constraints restrict the use of redundant hardware to handle faults. Additionally, federated architectures are not easily upgraded without introducing new hardware that impacts size, weight, power and cost (SWaP-C) constraints. These costs limit the ability to react quickly to new mission objectives. Autonomous multicopters often feature federated architectures, which incur relatively high communication costs between separate hardware components.
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