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Overview
The airside system is an autonomous perception-decision-control system that runs on the drone. All workers use local space except for flight_interface_worker. A diagram of the pipeline is shown below.The airside system implements the multiprocessing worker model: Python multiprocessing worker model
All worker use the local space coordinate system except for Flight interface worker: Unit and Coordinate Conventions
More information on autonomous systems in general: Autonomous Systems
System
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Multiprocessing
TODO R D : Link to multiprocessing page when written
Workers
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Key:
Red: Perception
Orange: Tracking
White: Decision
Green: Control (also perception from drone telemetry)
Blue: Not the responsibility of the system
Workers
Worker | Description | Task |
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Flight interface worker | Interfaces with the flight controller. The output of the worker is used for perception and decision making; the input is used for |
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controlling the drone. | Task:
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Input:
decision_worker:
AirsideCommand
Output:
data_merge_worker: TODO:
OdometryAndTimedecision_worker: Tuple of:
TODO: telemetry
TODO: waypoint state
TODO: command ready state
video_input_worker
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Video input worker | Interfaces with the camera device. | Task:
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Output:
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Detect target |
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worker |
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detect_target_worker
Perception.
Input:
video_input_worker:
ImageAndTime
Detects objects (if any) in images. | Task:
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Output:
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Data merge |
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worker |
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data_merge_worker
Perception.
Input:
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flight_input_worker: OdometryAndTime
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Synchronizes telemetry and detected objects. | Task:
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Output:
geolocation_worker:
MergedOdometryDetections
geolocation_worker
Perception.
Input:
Geolocation worker | Finds out where the detected object is in the world. | Task:
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Output:
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Cluster estimation |
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worker |
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cluster_estimation_worker
Perception.
Input:
geolocation_worker: list[DetectionInWorld]
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Estimates the location of objects in the world based on groups of detections. | Input list length is the number of simultaneous detections in a single frame. Task:
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Output:
controller_worker: list[ObjectInWorld]
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Decision worker | Builds a model of the world and takes action. | Input list is sorted in descending order of confidence (i.e. index 0 is best, 1 is next best, etc.) |
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decision_worker
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Input:
flight_interface_worker: Tuple of:
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TODO: telemetry
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TODO: waypoint state
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cluster_estimation_worker: list[PositionWorld]
Task:
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Output:
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