Doctoral Thesis Oral Defense - Mihir Kiran Bala

— 4:00pm

Location:
In Person and Virtual - ET - Gates Hillman 8102 and Zoom

Speaker:
MIHIR KIRAN BALA, Ph.D. Candidate, Computer Science Department, Carnegie Mellon University
https://www.mihirbala.com/

Towards Fully-Autonomous Ultra-Light Drones

Autonomous drones have emerged as an exciting new technology which could revolutionize infrastructure inspection, military reconnaissance, and police surveillance. However, the vast majority of today’s platforms are heavy, costly, and difficult to operate. This restricts them from use in many mission settings, such as in densely populated environments, where government regulation forbids autonomous operation of heavy drones near people. Much of this weight comes from the onboard compute resources required for these drones to run the critical computer vision algorithms that provide situational awareness. 

In this thesis oral, I show how autonomy can be induced on lightweight drones using edge computing, offloading high compute jobs to a network-proximal server. I demonstrate how this technique can lead to autonomous aircraft that fly much closer to the FAAs regulatory limits at acceptable performance cost. I also reveal a new operating system designed to unify the disparate landscape of drones under a single, easy-to-program API. I show how this can be leveraged to create heterogeneous collaborative drone swarms on commercial off-the-shelf hardware. 

Thesis Committee

Mahadev Satyanarayanan (Chair)
David O’Hallaron
Jeff Schneider
Padmanabhan Pillai

In Person and Zoom Participation.  See announcement.

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