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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.
39 lines
1.7 KiB
Markdown
39 lines
1.7 KiB
Markdown
# ADR-0001: No swarm-wide orchestrator; coordinate through data
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## Status
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Accepted (2026-07-08)
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## Context
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The fleet flies fully autonomously with no internet uplink and only
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intermittent mesh connectivity between drones. A conventional control plane
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(Kubernetes across the swarm, a leader election, a central scheduler) assumes
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stable membership and low-latency links — exactly what a swarm does not have.
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Partitions are the normal case, not the exception.
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## Options
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| Option | Pros | Cons |
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| --- | --- | --- |
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| A — Cluster orchestrator spanning the swarm | Familiar tooling | Assumes stable membership; a partition stalls coordination; single point of failure in the air |
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| 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 |
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## Decision
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Every drone is an autonomous node. There is **no orchestrator spanning the
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swarm**. Coordination happens by exchanging derived state (see
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[ADR-0003](ADR-0003-sync-derived-state-only.md)), and each drone makes its own
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in-flight decisions against its local data window. Orchestration tooling
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(Kubernetes, Flux) is confined to the **ground** segment
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([ADR-0006](ADR-0006-iac-boundaries.md)).
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## Consequences
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- The platform degrades gracefully under partition: a drone that loses peers
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keeps flying and recording.
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- There is no single "fleet state" to query in the air; health questions are
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answered from each drone's own store and reconciled on the ground.
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- Design principle 1 in [`../../README.md`](../../README.md) and the on-board
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model in [`../02-architecture.md`](../02-architecture.md) follow from this.
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