An Evaluation of Self-Adaptive Mechanisms for Misconfigurations in Small Uncrewed Aerial Systems
Salil Purandare, Md Nafee Al Islam, Urjoshi Sinha, Jane Cleland-Huang, Myra B. Cohen
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We present a collection of supplementary materials for our work published in TAAS. This paper is an extension to our paper "Self-Adaptive Mechanisms for Misconfigurations in Small Uncrewed Aerial Systems", which originally appeared at SEAMS 2023. This supplementary page for the TAAS submission includes an annotated dataset with complete reruns of the experiments presented in the SEAMS paper with multiple trials, as well as completely new experiments that are original to the TAAS submission. We also provide flight logs from our case study on applying adaptation strategies to real-world drone systems.
The work in this paper was primarily funded under USA National Aeronautics and Space Administration (NASA) Grant Number: 80NSSC21M0185 and the National Science Foundation (NSF) CNS-1931962 and CCF-1909688. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Aeronautics and Space Administration or the National Science Foundation.
Demonstration of the effect of setting the parameter MC_ROLL_P to a dangerous value, as well as recovery with CICADA's adaptation in real-world field tests.
We present the flight logs from the case study, in which we tested the revert-to-baseline adaptation on physical drone systems.
a) Default configuration:
b) MC_ROLL_P = 0 (failure-inducing value) with adaptation:
c) MC_PITCH_P = 0 (failure-inducing value) with adaptation:
d) MC_ROLLRATE_MAX = 0 (failure-inducing value) with adaptation:
The raw flight logs are also provided here in basic .ulg format:
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