eSlider
5f6fd8462c
CI & Release / Verify simulator (push) Skipped
CI & Release / Trivy scan (push) Skipped
CI & Release / Semantic Release (push) Skipped
CI & Release / Verify simulator (pull_request) Failing after 4s
CI & Release / Trivy scan (pull_request) Skipped
CI & Release / Semantic Release (pull_request) Skipped
Extend glossary with storage floors, source of truth, and linkable anchors. Fix broken links, pose frame drift, rsync/offload wording, and README tone. Add docs/improvement audit records and live demo links in design journey.
1.7 KiB
1.7 KiB
ADR-0001: No swarm-wide orchestrator; coordinate through data
Status
Accepted (2026-07-08)
Context
The fleet flies fully autonomously with no internet uplink and only intermittent mesh connectivity between drones. A conventional control plane (Kubernetes across the swarm, a leader election, a central scheduler) assumes stable membership and low-latency links — exactly what a swarm does not have. Partitions are the normal case, not the exception.
Options
| Option | Pros | Cons |
|---|---|---|
| A — Cluster orchestrator spanning the swarm | Familiar tooling | Assumes stable membership; a partition stalls coordination; single point of failure in the air |
| B — Each drone autonomous, coordinating through exchanged data | Survives partitions; no air-side control plane to fail | No global view; behavior must be derivable from local state |
Decision
Every drone is an autonomous node. There is no orchestrator spanning the swarm. Coordination happens by exchanging derived state (see ADR-0003), and each drone makes its own in-flight decisions against its local data window. Orchestration tooling (Kubernetes, Flux) is confined to the ground segment (ADR-0006).
Consequences
- The platform degrades gracefully under partition: a drone that loses peers keeps flying and recording.
- There is no single "fleet state" to query in the air; health questions are answered from each drone's own store and reconciled on the ground.
- Design principle 1 in
../../README.mdand the on-board model in../02-architecture.mdfollow from this.