Self-Adaptation of Loosely Coupled Systems across a System of Small Uncrewed Aerial Systems

The use of small autonomous Uncrewed Aerial Systems (sUAS) for Emergency Response requires rapid deployments into shared operational environments.We refer to these as "Pop-up Drone Zones" (PuDZ), representing a System of Systems (SoS), in which individual systems provide services such as air traffic control, environmental modeling, and support for sUAS autonomy.Each system needs the ability to configure itself dynamically at the start of the mission and adapt throughout the mission, in response to occurring changes.However, system-level choreography at the SoS level can be challenging, as it requires a global perspective of all individual systems, and a deep understanding of their inter-dependencies.We, therefore, propose a publish-subscribe architecture that enables the exchange of regional data between MAPE-K-enabled systems in support of coordinated self-adaptation whilst maintaining loose coupling between the interconnected systems.We illustrate and validate our approach through several PuDZ-related change scenarios in simulation and physical field tests.