Self-adaptive software systems can adjust their behaviors at runtime to respond to the context changes. To operationalize the adaptive mechanism, feedback loops have been advocated in many works.

Feedback loops are circular chains of cause and effect that connect stocks and flows in a system. They can either amplify or dampen the changes in the system, depending on their polarity.

Therefore, a holistic closed-loop system design is required for building reliable and efficient perception systems for autonomous drones. The closed-loop perception system creates a focus-of-attention ...