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Future unmanned aerial vehicles (drones) will be shared by multiple users andwill have to operate in conditions where their fully-autonomous function isrequired. Calculation of a drones trajectory will be important but optimaltrajectories cannot be calculated unless mass and flight speed are taken intoaccount. This article presents the case for on-drone trajectory planning in amulti-user dynamic payload mass scenario, allowing a drone to calculate itstrajectory with no need for ground control communication. We formulate andinvestigate on-drone trajectory planning under variable payload mass and flightspeed awareness, in cases where it is shared by multiple users or applications.We present efficient solutions using a combination of heuristic andoptimization algorithms. To support this investigation, we present a new modelfor the power dissipation of drone propulsion as a function of speed andpayload mass. We evaluate our proposed algorithmic solution on contemporaryembedded processors and demonstrate its capability to generate near-optimaltrajectories with limited computational overhead (less than 300 milliseconds onan ARM Cortex-A9 SoC).

Payload-Mass-Aware Trajectory Planning on Multi-User Autonomous Unmanned Aerial Vehicles