UAVCAN: a highly dependable publish-subscribe protocol for hard real-time intravehicular networking

Pavel Kirienko
Founder/CEO, Zubax Robotics
Helping enterprises around the world create aerial transport of the 21st century: electric, autonomous, dependable.

Scott Dixon
Software Engineer, Amazon
I'm a firmware engineer with Amazon PrimeAir in Seattle and a passionate maker of things.

UAVCAN is a compact and robust protocol designed to provide publish/subscribe and remote procedure call (RPC) transports on top of real-time, reliable, and redundant networks for highly-deterministic applications. It is a modern protocol focused on cyber-physical systems making it relevant to the emerging class of vehicles that are largely software-defined and increasingly autonomous. Being first proposed in 2014, the protocol has been integrated into numerous systems and is supported by several vendors worldwide. Experience from years of real-world integration and deployment has culminated in the first long-term stable version – UAVCAN v1.0. New features in this version include compatibility with transport protocols such as CAN FD and UDP/Ethernet, DSDL message versioning, a simplified on-wire representation of UAVCAN frames, and a clear process for the registration and deconfliction of message identifiers between systems and vendors.

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