Hybrid F' and ROS2 Architecture for Vision-Based Autonomous Flight: Design and Experimental Validation
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arXiv
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| Auteurs principaux: | , , , , , |
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866910024551366656 |
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| author | Metwally, Abdelrahman James, Monijesu Fedoseev, Aleksey Cabrera, Miguel Altamirano Tsetserukou, Dzmitry Somov, Andrey |
| author_facet | Metwally, Abdelrahman James, Monijesu Fedoseev, Aleksey Cabrera, Miguel Altamirano Tsetserukou, Dzmitry Somov, Andrey |
| contents | Autonomous aerospace systems require architectures that balance deterministic real-time control with advanced perception capabilities. This paper presents an integrated system combining NASA's F' flight software framework with ROS2 middleware via Protocol Buffers bridging. We evaluate the architecture through a 32.25-minute indoor quadrotor flight test using vision-based navigation. The vision system achieved 87.19 Hz position estimation with 99.90\% data continuity and 11.47 ms mean latency, validating real-time performance requirements. All 15 ground commands executed successfully with 100 % success rate, demonstrating robust F'--PX4 integration. System resource utilization remained low (15.19 % CPU, 1,244 MB RAM) with zero stale telemetry messages, confirming efficient operation on embedded platforms. Results validate the feasibility of hybrid flight-software architectures combining certification-grade determinism with flexible autonomy for autonomous aerial vehicles. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_15398 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Hybrid F' and ROS2 Architecture for Vision-Based Autonomous Flight: Design and Experimental Validation Metwally, Abdelrahman James, Monijesu Fedoseev, Aleksey Cabrera, Miguel Altamirano Tsetserukou, Dzmitry Somov, Andrey Robotics Autonomous aerospace systems require architectures that balance deterministic real-time control with advanced perception capabilities. This paper presents an integrated system combining NASA's F' flight software framework with ROS2 middleware via Protocol Buffers bridging. We evaluate the architecture through a 32.25-minute indoor quadrotor flight test using vision-based navigation. The vision system achieved 87.19 Hz position estimation with 99.90\% data continuity and 11.47 ms mean latency, validating real-time performance requirements. All 15 ground commands executed successfully with 100 % success rate, demonstrating robust F'--PX4 integration. System resource utilization remained low (15.19 % CPU, 1,244 MB RAM) with zero stale telemetry messages, confirming efficient operation on embedded platforms. Results validate the feasibility of hybrid flight-software architectures combining certification-grade determinism with flexible autonomy for autonomous aerial vehicles. |
| title | Hybrid F' and ROS2 Architecture for Vision-Based Autonomous Flight: Design and Experimental Validation |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.15398 |