Modular Airborne Real-Time Testbed (MART)

"MART" stands for Modular Airborne Real-Time Testbed, and describes our multicopter fleet that was built to provide a challenging and realistic application to benchmark our research activities. Multicopters are an excellent application domain, because they are tightly resource-constrained and meanwhile safety-critical, as well as real-time systems. We are using several quadcopter and hexacopter configurations which are completely open for modifications and extensions in both hardware and software.


The firstborn

In 2013, our first testbed named MART-i completed its maiden flight. It is a quadrocopter configuration with approximately 15 minutes flight time, depending on payload. The technical specifications are given on that page (click here).

This platform uses state-of-the-art COTS components, and was used to learn about challenges of multicopters, and to identify research topics. In particular, we identified shortcomings in the areas of safety and security.


In 2014, we inaugurated our second testbed named MART-ii. It is a hexacopter configuration with extended payload capacity, longer flight time and high-end onboard computers. It features in-house technology addressing the shortcomings identified in MART-i, such as a cutting-edge crypto upgrade and an automatic emergency recovery system. Currently, MART-ii is actively being used as a platform in research and teaching activities.

Our Developments in Detail

Theses and Internships

Available / Assigned

The lists of available topics are not actively maintained. Contact us if you are interested in a thesis or internship in this domain, and we try to match our needs with your interests.




  • Approaches for Software Verification of an Emergency Recovery System for Micro Air Vehicles, M. Becker, M. Neumair, A. Söhn, S. Chakraborty, In 34th International Conference on Computer Safety, Reliability and Security (SAFECOMP) Companion, Delft, NL. [Preprint PDF]


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  • Michael Balszun: payload, communication, software
  • Martin Becker: overall design, safety, software
  • Martin Geier: overall design, security, computer architecture