I
nte
rna
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n (
I
J
R
A)
Vo
l.
9
,
No
.
4
,
Dec
em
b
er
2
0
2
0
,
p
p
.
2
4
4
~
2
50
I
SS
N:
2089
-
4
8
5
6
,
DOI
: 1
0
.
1
1
5
9
1
/
i
jr
a
.
v
9
i
4
.
pp
2
4
4
-
2
5
0
244
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
r
a
.
ia
esco
r
e.
co
m
Dev
elo
pment of
a real
-
tim
e f
ra
me
w
o
rk
for farm
mo
n
itoring
using
drone t
echn
o
lo
g
y
Adek
un
le
T.
O
y
ela
m
i
,
Adeda
y
o
S.
A
k
ina
de
,
K
ing
s
ley
C
.
O
bia
nef
o
De
p
a
rtme
n
t
o
f
M
e
c
h
a
tr
o
n
ics
E
n
g
i
n
e
e
rin
g
,
F
e
d
e
ra
l
Un
i
v
e
rsity
o
f
A
g
ricu
lt
u
re
,
A
b
e
o
k
u
ta
,
Ni
g
e
ria
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Ap
r
26
,
2
0
20
R
ev
is
ed
Ma
y
3
1
,
2
0
20
Acc
ep
ted
J
u
n
9
,
2
0
20
Th
is
wo
r
k
d
e
v
e
lo
p
e
d
a
c
o
st
-
e
ffe
c
ti
v
e
fra
m
e
wo
rk
fo
r
a
g
ricu
l
tu
rists
t
o
re
g
u
larly
m
o
n
it
o
r
th
e
ir
c
ro
p
s
a
g
a
in
st
in
tr
u
d
i
n
g
r
o
d
e
n
ts
a
n
d
o
th
e
r
se
c
u
rit
y
c
o
n
c
e
rn
s
u
si
n
g
m
o
d
e
r
n
d
ro
n
e
tec
h
n
o
lo
g
y
th
r
o
u
g
h
c
o
n
f
ig
u
r
a
ti
o
n
a
n
d
d
e
p
lo
y
m
e
n
t
o
f
a
n
a
u
t
o
n
o
m
o
u
s
UA
V
wh
ich
a
lso
fu
n
c
t
io
n
s
a
s
a
re
m
o
tely
p
il
o
te
d
v
e
h
icle
.
Th
is
wa
s
d
o
n
e
b
y
c
o
n
fig
u
ri
n
g
a
q
u
a
d
c
o
p
ter
c
a
p
a
b
le
o
f
c
a
u
sin
g
a
d
istu
r
b
a
n
c
e
wh
e
n
a
r
o
d
e
n
t
is
o
b
se
rv
e
d
t
h
ro
u
g
h
a
n
i
n
b
u
il
t
a
larm
sy
ste
m
wh
o
se
so
u
n
d
is
a
m
p
li
f
ied
to
b
e
l
o
u
d
e
n
o
u
g
h
t
o
c
a
u
se
th
e
a
n
ima
ls
to
lea
v
e
th
e
fa
rm
a
re
a
.
A
fra
m
e
wo
rk
fo
r
re
a
l
-
ti
m
e
ima
g
e
a
n
d
li
v
e
v
i
d
e
o
tran
sm
issio
n
fro
m
th
e
fa
rm
to
a
d
e
sig
n
a
ted
re
m
o
te
b
a
se
st
a
ti
o
n
wa
s
d
e
v
e
lo
p
e
d
.
T
h
is
wa
s
a
c
h
iev
e
d
t
h
ro
u
g
h
p
ro
g
ra
m
m
in
g
c
o
d
e
s
th
a
t
c
o
n
fi
g
u
re
d
th
e
d
ro
n
e
to
o
p
e
ra
te
a
n
in
telli
g
e
n
t
a
larm
a
n
d
o
b
jec
t
trac
k
in
g
s
y
st
e
m
s
wh
ich
e
n
a
b
les
a
l
iv
e
fe
e
d
fr
o
m
t
h
e
U
A
V
u
si
n
g
Ard
u
in
o
IDE
a
n
d
M
issi
o
n
P
lan
n
e
r
fo
r
a
u
to
n
o
m
o
u
s fl
i
g
h
t
c
o
n
tro
l.
Th
e
re
q
u
isit
e
a
lg
o
rit
h
m
s we
re
d
e
v
e
lo
p
e
d
u
sin
g
th
e
fra
m
e
wo
rk
o
f
trac
k
i
n
g
,
lea
rn
i
n
g
,
a
n
d
d
e
tec
ti
o
n
i
n
th
e
O
p
e
n
CV
so
ftwa
re
.
Th
e
d
r
o
n
e
m
o
v
e
m
e
n
t
is
e
q
u
a
ll
y
c
o
n
tro
ll
e
d
re
m
o
tel
y
o
v
e
r
a
W
i
-
F
i
n
e
two
r
k
u
sin
g
a
n
ES
P
8
2
6
6
Wi
-
F
i
m
o
d
u
le
fo
r
re
d
irec
ti
o
n
a
n
d
c
o
n
tro
l
li
n
g
o
f
th
e
d
r
o
n
e
m
o
v
e
m
e
n
t
to
m
o
n
i
to
r
s
p
e
c
ifi
c
lo
c
a
ti
o
n
s.
K
ey
w
o
r
d
s
:
Fra
m
ewo
r
k
Miss
io
n
p
lan
n
er
Qu
ad
co
p
ter
R
em
o
tely
p
ilo
ted
v
eh
icle
UAV
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Dr
.
Ad
ek
u
n
le
T
.
Oy
elam
i,
Dep
ar
tm
en
t o
f
Me
ch
atr
o
n
ics E
n
g
in
ee
r
in
g
,
Fed
er
al
Un
iv
er
s
ity
o
f
Ag
r
icu
lt
u
r
e,
Ab
eo
k
u
ta
(
FUNAAB),
P.M
.
B
.
2
2
4
0
,
Ab
e
o
k
u
ta,
Og
u
n
State,
Nig
er
ia
.
E
m
ail:
o
y
elam
iat@
f
u
n
aa
b
.
ed
u
.
n
g
1.
I
NT
RO
D
UCT
I
O
N
I
n
v
estme
n
t in
ag
r
icu
ltu
r
e
f
o
r
m
s
th
e
b
asi
s
f
o
r
well
-
b
ein
g
an
d
p
o
v
er
ty
r
e
d
u
ctio
n
in
Af
r
ica,
p
ar
ticu
lar
ly
am
o
n
g
s
t
th
e
p
o
o
r
est
p
eo
p
le
[
1
]
.
Op
tim
izin
g
ag
r
icu
ltu
r
al
p
r
o
f
it
th
r
o
u
g
h
in
cr
ea
s
in
g
p
r
o
d
u
ct
iv
ity
an
d
im
p
r
o
v
ed
y
ield
h
as
b
en
ef
ited
f
r
o
m
s
e
v
er
al
in
n
o
v
ativ
e
d
ev
elo
p
m
en
ts
o
v
er
th
e
y
ea
r
s
in
clu
d
in
g
th
e
u
s
e
o
f
d
r
o
n
es’
tech
n
o
lo
g
y
[
2
]
.
Ma
jo
r
ap
p
licatio
n
s
f
o
r
d
r
o
n
es
r
elate
d
to
th
e
er
ad
icatio
n
o
f
r
o
d
e
n
ts
in
clu
d
e
an
im
al
d
etec
tio
n
th
r
o
u
g
h
th
e
u
s
e
o
f
in
f
r
a
-
r
ed
ca
m
er
as,
th
e
d
eliv
e
r
y
o
f
b
aits
,
s
ec
u
r
in
g
tim
ely
h
ig
h
r
eso
lu
t
io
n
im
ag
er
y
o
f
th
e
ar
ea
o
f
in
ter
est an
d
m
an
y
m
o
r
e
[
3
]
.
Un
m
an
n
ed
ae
r
ial
v
e
h
icles
(
UAV
s
)
,
wh
ich
ar
e
also
r
ef
er
r
ed
to
as
d
r
o
n
es
[
4
]
,
ar
e
f
ly
i
n
g
r
o
b
o
ts
th
at
ca
n
f
ly
t
h
o
u
s
an
d
s
o
f
k
ilo
m
ete
r
s
o
r
in
c
o
n
f
i
n
ed
s
p
ac
es
[
5
]
.
T
h
ese
v
eh
icles
d
o
n
o
t
ca
r
r
y
a
h
u
m
an
o
p
er
ato
r
,
ca
n
f
ly
r
em
o
tely
o
r
a
u
to
n
o
m
o
u
s
ly
,
an
d
ca
n
ca
r
r
y
leth
al
o
r
n
o
n
le
th
al
p
ay
lo
ad
s
[
5
]
.
T
h
ese
UAVs
ca
n
b
e
eq
u
ip
p
ed
with
d
if
f
er
e
n
t
s
en
s
o
r
s
a
n
d
e
q
u
ip
m
en
t
to
p
er
f
o
r
m
d
if
f
e
r
e
n
t
task
s
r
an
g
in
g
f
r
o
m
ae
r
ial
p
h
o
to
g
r
a
p
h
y
[
6
]
t
o
d
is
aster
s
ea
r
ch
an
d
r
escu
e
[
7
]
.
UAVs
ar
e
s
em
i
-
au
to
n
o
m
o
u
s
o
r
f
u
lly
au
to
n
o
m
o
u
s
air
cr
af
ts
th
at
ca
n
ca
r
r
y
ca
m
er
as,
s
en
s
o
r
s
,
co
m
m
u
n
icatio
n
eq
u
ip
m
e
n
t
o
r
o
th
er
p
ay
lo
a
d
s
[
8
]
.
Dev
elo
p
m
en
ts
in
th
e
f
ield
o
f
u
n
m
an
n
ed
ae
r
ial
s
y
s
tem
s
(
UAS)
b
eg
an
s
ev
er
al
d
ec
ad
es
ag
o
,
b
ef
o
r
e
th
e
f
ir
s
t
m
an
n
ed
a
ir
p
lan
e
f
lig
h
t
o
cc
u
r
r
ed
in
1
9
0
3
[
9
]
.
T
h
e
f
ir
s
t
an
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4
8
5
6
Dev
elo
p
men
t o
f a
r
ea
l
-
time
fr
a
mewo
r
k
fo
r
fa
r
m
mo
n
ito
r
in
g
u
s
in
g
d
r
o
n
e
tech
n
o
lo
g
y
(
A
d
ek
u
n
le
T.
Oye
la
mi
)
245
m
o
s
t
p
r
im
itiv
e
d
esig
n
s
o
f
UA
Vs
wa
s
b
ased
o
n
b
allo
o
n
s
an
d
f
ir
s
t
attem
p
ts
wer
e
m
ad
e
in
Fra
n
ce
in
1
7
8
2
b
y
th
e
Mo
n
tg
o
l
f
ier
b
r
o
th
er
s
[
9
]
.
UAVs
ar
e
clas
s
if
ied
b
ased
o
n
d
if
f
er
e
n
t
p
ar
am
eter
s
.
I
n
co
n
s
id
er
in
g
civ
il
an
d
m
ilit
ar
y
a
p
p
licatio
n
s
,
UAVs
ar
e
clas
s
if
ied
as
MA
V
s
(
m
icr
o
o
r
m
i
n
iatu
r
e
air
v
eh
i
cles
)
,
NAVs
(
n
an
o
air
v
eh
icle
s
)
,
VT
OL
(
v
er
tical
tak
e
-
o
f
f
a
n
d
lan
d
in
g
)
,
L
AS
E
(
lo
w
altitu
d
e,
s
h
o
r
t
-
en
d
u
r
an
ce
)
,
L
ASE
clo
s
e
,
L
AL
E
(
lo
w
altitu
d
e,
lo
n
g
en
d
u
r
a
n
ce
)
,
MA
L
E
(
m
e
d
iu
m
altitu
d
e,
lo
n
g
en
d
u
r
a
n
ce
)
,
a
n
d
HAL
E
(
h
ig
h
altitu
d
e,
lo
n
g
en
d
u
r
an
ce
)
[
5
]
.
UAVs
ca
n
also
b
e
class
if
ied
b
ased
o
n
th
eir
p
er
f
o
r
m
a
n
ce
ch
ar
ac
t
er
is
tics
wh
ich
in
clu
d
e
weig
h
t,
win
g
s
p
an
,
win
g
lo
ad
in
g
,
r
an
g
e,
m
ax
im
u
m
altitu
d
e,
s
p
ee
d
,
en
d
u
r
a
n
ce
,
an
d
p
r
o
d
u
ctio
n
co
s
ts
[
5
,
10]
.
S.
W
ar
d
,
et
a
l
.,
[
1
1
]
d
ev
elo
p
e
d
a
UAV
th
at
m
o
v
es
ah
ea
d
o
f
a
u
s
er
,
e
q
u
ip
p
e
d
with
a
lo
w
-
co
s
t
th
er
m
al
ca
m
er
a
a
n
d
a
s
m
all
o
n
b
o
ar
d
c
o
m
p
u
ter
th
at
id
en
tifie
s
h
ea
t
s
ig
n
atu
r
es
o
f
a
tar
g
et
an
im
al
f
r
o
m
a
p
r
ed
ete
r
m
in
ed
altitu
d
e
an
d
tr
a
n
s
m
its
th
at
tar
g
et’
s
GPS
co
o
r
d
in
ates.
T
h
e
s
y
s
tem
,
co
n
s
is
tin
g
o
f
a
q
u
ad
r
o
to
r
UAV
(
3
DR
I
R
I
S),
an
au
t
o
p
ilo
t
(
Pix
h
aw
k
)
,
a
th
er
m
al
ca
m
er
a
(
FLI
R
L
ep
to
n
)
,
a
m
ic
r
o
co
m
p
u
ter
(
R
asp
b
er
r
y
Pi
2
)
an
d
GPS
(
3
DR
b
r
an
d
)
m
o
d
u
le,
was
ca
p
ab
le
o
f
au
to
n
o
m
o
u
s
ly
lo
c
atin
g
an
im
als
f
r
o
m
a
p
r
e
d
eter
m
in
ed
h
eig
h
t
an
d
g
e
n
er
ates
a
m
ap
s
h
o
win
g
th
e
lo
ca
tio
n
o
f
t
h
e
an
im
als ah
ea
d
o
f
th
e
u
s
er
[
1
1
]
.
T
h
e
wo
r
k
o
f
[
1
2
]
f
o
cu
s
ed
o
n
th
e
d
e
v
elo
p
m
e
n
t
an
d
im
p
l
em
en
tatio
n
o
f
an
o
n
-
b
o
ar
d
c
o
m
p
u
tin
g
m
o
d
u
le
in
a
n
UAV
b
ased
o
n
a
lo
w
-
co
s
t
s
in
g
le
-
b
o
ar
d
co
m
p
u
ter
.
T
h
is
m
o
d
u
le
tr
an
s
m
its
t
h
e
d
ata
g
ath
er
e
d
b
y
its
attac
h
ed
s
en
s
o
r
s
(
GPS,
im
ag
e,
an
d
o
th
er
UAV
s
en
s
o
r
s
)
to
a
b
a
s
e
s
tatio
n
.
At
t
h
e
b
as
e
s
tatio
n
,
th
e
GPS
co
o
r
d
in
ates
ar
e
s
u
b
s
eq
u
en
tly
u
s
ed
to
tr
ac
k
th
e
tr
ajec
to
r
y
in
a
u
s
er
in
ter
f
ac
e
b
ased
o
n
Go
o
g
le
Ma
p
s
.
T
h
e
m
o
b
ile
s
tatio
n
was
d
ev
el
o
p
ed
u
s
in
g
C
p
r
o
g
r
am
m
in
g
la
n
g
u
ag
e
o
n
a
R
asp
b
er
r
y
Pi
s
in
g
le
b
o
ar
d
co
m
p
u
ter
with
L
in
u
x
d
is
tr
ib
u
tio
n
.
I
t
ca
p
tu
r
es
im
ag
es
u
s
in
g
a
web
ca
m
an
d
u
s
es
a
co
n
v
en
tio
n
al
GPS
m
o
d
u
le
to
ac
q
u
ir
e
th
e
latitu
d
e/lo
n
g
itu
d
e.
T
h
e
a
cq
u
ir
ed
d
ata
is
th
en
s
u
b
s
eq
u
en
tly
s
en
t
to
th
e
b
ase
s
tatio
n
th
r
o
u
g
h
a
W
i
-
Fi
co
m
m
u
n
icatio
n
lin
k
.
T
h
e
b
ase
s
tatio
n
co
m
p
r
is
es
o
f
a
web
ap
p
licatio
n
,
d
ev
elo
p
ed
in
N
o
d
e.
J
s
,
with
a
g
r
ap
h
ical
in
ter
f
ac
e
to
s
h
o
w
(
in
r
ea
l tim
e
)
th
e
tr
ajec
to
r
y
o
f
t
h
e
UAV.
A.
Ma
zu
r
[
1
3
]
d
ev
elo
p
ed
an
au
to
n
o
m
o
u
s
m
u
ltiro
t
o
r
UA
V
(
h
ex
ac
o
p
ter
)
o
p
er
ated
an
d
co
n
tr
o
lled
th
r
o
u
g
h
4
G
L
T
E
u
s
in
g
o
n
b
o
a
r
d
G
PS
an
d
im
a
g
e
p
r
o
ce
s
s
in
g
wh
ich
was
ca
p
ab
le
o
f
in
tellig
e
n
t
r
em
o
te
way
p
o
i
n
t
n
av
ig
atio
n
an
d
im
ag
e
p
r
o
ce
s
s
in
g
b
y
u
tili
zin
g
m
o
d
er
n
c
o
m
m
u
n
icatio
n
n
etwo
r
k
s
.
T
h
e
h
ex
ac
o
p
ter
was
em
p
lo
y
ed
to
ca
r
r
y
o
u
t
o
b
ject
tr
ac
k
in
g
an
d
s
u
r
v
eillan
ce
b
y
co
o
r
d
in
atin
g
its
f
lig
h
t
p
atter
n
s
b
ased
o
n
im
a
g
e
p
r
o
ce
s
s
in
g
alg
o
r
it
h
m
s
b
ein
g
i
m
p
lem
en
ted
[
1
3
]
.
A
q
u
ad
co
p
ter
was
d
esig
n
ed
to
o
b
tain
s
tab
le
f
lig
h
t,
g
ath
er
an
d
s
to
r
e
C
O
2
d
ata
u
s
in
g
a
KK
2
.
1
.
5
f
lig
h
t
co
n
tr
o
ller
b
o
ar
d
b
y
[
1
4
]
.
I
n
th
is
s
tu
d
y
,
th
e
q
u
ad
co
p
te
r
was
ca
p
ab
le
o
f
f
ly
in
g
an
d
lan
d
in
g
i
n
a
s
tab
le
m
an
n
er
,
d
eter
m
in
in
g
its
ex
ac
t
lo
ca
tio
n
f
r
o
m
GSM
d
ata,
an
d
also
s
to
r
in
g
a
n
d
lo
g
g
i
n
g
C
O
2
d
ata
o
b
tain
ed
.
T
h
e
s
y
s
tem
was
im
p
lem
en
ted
u
s
in
g
m
o
t
o
r
s
,
elec
tr
o
n
ic
s
p
ee
d
co
n
tr
o
ller
s
,
Ar
d
u
in
o
d
ev
elo
p
m
en
t
b
o
ar
d
,
s
en
s
o
r
b
o
ar
d
s
,
b
atter
ies,
a
tr
an
s
m
itter
,
a
r
ec
ei
v
er
,
a
GPS
m
o
d
u
le,
an
d
SIM
ca
r
d
wh
ich
wer
e
all
in
ter
f
ac
ed
ac
co
r
d
in
g
ly
wh
ile
th
e
PID
co
n
tr
o
ller
was tu
n
ed
f
o
r
s
tab
ilit
y
.
An
au
to
n
o
m
o
u
s
q
u
ad
co
p
ter
d
r
o
n
e
,
f
itted
with
a
GPS
tr
ac
k
in
g
s
y
s
tem
,
a
n
d
p
r
o
g
r
am
m
ed
to
au
to
n
o
m
o
u
s
ly
f
ly
f
r
o
m
o
n
e
lo
ca
tio
n
to
an
o
th
er
u
s
in
g
GPS
co
o
r
d
in
ates
was
d
ev
elo
p
e
d
b
y
[
1
5
]
.
E
x
ec
u
tio
n
o
f
th
e
d
r
o
n
e’
s
s
o
f
twar
e
b
eg
in
s
w
ith
th
e
u
s
er
b
ein
g
p
r
o
m
p
ted
t
o
en
ter
a
s
et
o
f
d
esti
n
atio
n
lat
itu
d
e
an
d
lo
n
g
itu
d
e
v
alu
es
in
d
ec
im
al
f
o
r
m
,
n
e
g
at
iv
e
n
u
m
b
e
r
s
ar
e
u
s
ed
f
o
r
s
o
u
t
h
er
n
an
d
wester
n
co
o
r
d
in
ates
[
1
5
]
.
T
h
e
in
p
u
tted
v
alu
es
ar
e
co
n
v
e
r
ted
in
to
f
ee
t
an
d
co
m
p
ar
ed
to
t
h
e
GPS
r
ec
eiv
er
’
s
v
alu
es
wh
ich
ar
e
also
co
n
v
e
r
ted
to
f
ee
t
.
T
h
e
d
if
f
e
r
en
ce
in
t
h
ese
v
alu
es
d
eter
m
in
es
th
e
d
esti
n
atio
n
s
d
ir
ec
tio
n
d
ep
e
n
d
in
g
o
n
i
f
th
e
la
titu
d
e
d
if
f
er
e
n
ce
is
p
o
s
itiv
e
o
r
n
eg
ativ
e.
T
h
e
d
r
o
n
e
wo
u
ld
th
en
lift
o
f
f
an
d
m
an
eu
v
er
to
its
d
es
tin
atio
n
,
m
ain
tain
in
g
s
tab
ilit
y
alo
n
g
th
e
way
u
s
in
g
th
e
PID
c
o
n
tr
o
ller
.
W
h
en
it a
r
r
i
v
es a
t its
d
esti
n
atio
n
,
with
a
m
ar
g
in
o
f
er
r
o
r
o
f
two
f
ee
t in
eith
er
d
ir
ec
tio
n
,
it wo
u
ld
s
lo
w
ly
s
p
in
d
o
wn
its
m
o
to
r
s
u
n
til it
r
etu
r
n
e
d
to
its
p
r
eset g
r
o
u
n
d
l
ev
el
[
1
5
]
.
T
h
is
wo
r
k
f
o
cu
s
es
o
n
d
ev
e
lo
p
in
g
l
o
ca
l
ca
p
ac
ity
i
n
th
e
d
ep
lo
y
m
en
t
a
n
d
r
e
-
co
n
f
ig
u
r
atio
n
o
f
an
au
to
n
o
m
o
u
s
UAV
f
o
r
g
en
er
al
s
u
r
v
eillan
ce
b
u
t
with
s
p
e
cif
ic
ap
p
licatio
n
i
n
f
ar
m
m
o
n
ito
r
in
g
.
Ap
a
r
t
f
r
o
m
th
e
g
en
er
al
f
r
am
ewo
r
k
f
o
r
r
ea
l
-
tim
e
im
a
g
e
an
d
liv
e
v
id
e
o
tr
an
s
m
is
s
io
n
f
r
o
m
th
e
f
ar
m
to
a
d
esig
n
ated
r
em
o
te
b
ase
s
tatio
n
,
th
e
wo
r
k
eq
u
ally
d
ev
elo
p
ed
a
p
latf
o
r
m
f
o
r
th
e
d
r
o
n
e
m
o
v
em
en
t
to
b
e
co
n
tr
o
lled
r
em
o
tely
o
v
er
a
W
i
-
Fi
n
etwo
r
k
f
o
r
r
ed
ir
ec
t
io
n
th
er
e
b
y
m
ak
in
g
it
p
o
s
s
ib
le
f
o
r
th
e
d
r
o
n
e
to
ch
a
n
g
e
it
s
p
r
e
-
p
r
o
g
r
a
m
m
e
d
f
lig
h
t
p
atter
n
wh
en
in
t
r
u
d
er
s
ar
e
s
en
s
ed
in
s
o
m
e
o
th
er
lo
ca
tio
n
s
th
er
eb
y
m
ak
in
g
th
e
s
u
r
v
eillan
ce
s
y
s
tem
m
o
r
e
in
tellig
en
t.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
Unm
a
nn
ed
a
er
ia
l v
ehicle
UAVs
u
s
u
ally
h
av
e
th
r
ee
,
f
o
u
r
,
s
ix
o
r
ev
en
eig
h
t
r
o
to
r
s
f
o
r
a
s
tab
le
f
lig
h
t
[
1
6
]
.
T
h
e
UAV
r
eq
u
ir
es
b
o
th
h
ar
d
wa
r
e
an
d
s
o
f
twar
e
co
m
p
o
n
en
ts
to
c
o
n
f
i
g
u
r
e
it.
T
h
e
UAV
is
ca
p
ab
le
o
f
b
ein
g
d
ep
lo
y
ed
as
an
au
t
o
n
o
m
o
u
s
UAV
o
r
a
R
em
o
tely
P
ilo
ted
Veh
icl
e
(
R
PV)
.
T
h
e
UAV
s
ch
em
a
tic
is
as
s
h
o
wn
i
n
Fig
u
r
e
1
wh
ile
all
th
e
b
asic
co
m
p
o
n
e
n
ts
o
f
th
e
co
n
s
titu
en
t
h
ar
d
war
e
an
d
s
o
f
twar
e
co
m
p
o
n
en
ts
ar
e
as
lis
ted
b
elo
w
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l.
9
,
N
o
.
4
,
Dec
em
b
er
2
0
2
0
:
2
4
4
–
250
246
Fig
u
r
e
1
.
Sch
em
atic
d
iag
r
am
o
f
UAV
2
.
1
.
1
.
H
a
rdwa
re
co
m
po
nents
-
DJI
2
2
1
2
/9
2
0
k
V
b
r
u
s
h
less
DC
m
o
to
r
-
B
L
HE
L
I
3
0
A
elec
tr
o
n
ic
s
p
ee
d
co
n
tr
o
ller
(
E
SC
)
-
UB
L
OX
NE
O
-
M8
N
g
lo
b
al
p
o
s
itio
n
in
g
s
y
s
tem
(
GPS)
m
o
d
u
l
e
-
Ar
d
u
p
ilo
t Flig
h
t Co
n
tr
o
ller
A
PM
2
.
8
-
L
ith
iu
m
-
p
o
l
y
m
er
b
atter
y
-
FS
i6
an
d
FS
iA6
R
C
tr
an
s
m
itt
er
an
d
r
ec
eiv
er
-
F4
5
0
p
r
o
p
eller
s
-
F4
5
0
ar
m
s
-
R
asp
b
er
r
y
Pi 3
B
+
b
o
ar
d
-
R
asp
b
er
r
y
Pi
ca
m
er
a
with
n
ig
h
t v
is
io
n
len
s
-
L
an
d
in
g
g
ea
r
s
2
.
1
.
2
.
So
f
t
wa
re
co
m
po
nent
a.
Miss
io
n
p
lan
n
er
s
o
f
twar
e
Miss
io
n
p
lan
n
er
is
a
g
r
o
u
n
d
co
n
tr
o
l
s
tatio
n
f
o
r
Ar
d
u
p
ilo
t.
I
t
p
r
o
v
i
d
es
s
etu
p
a
n
d
f
ly
in
g
s
u
p
p
o
r
t,
r
ev
iew
o
f
r
ec
o
r
d
ed
f
lig
h
t,
p
o
i
n
t
-
an
d
-
click
wa
y
p
o
in
t
e
n
tr
y
u
s
in
g
Go
o
g
le
m
ap
s
,
co
n
f
ig
u
r
at
io
n
o
f
s
ettin
g
s
f
o
r
th
e
air
f
r
a
m
e,
s
elec
tio
n
o
f
m
i
s
s
io
n
co
m
m
an
d
s
.
A
s
am
p
l
e
f
lig
h
t
p
atter
n
o
b
tain
ed
f
r
o
m
t
h
e
Miss
io
n
Plan
n
er
s
o
f
twar
e
is
s
h
o
wn
in
Fig
u
r
e
2
.
b.
I
m
ag
e
p
r
o
ce
s
s
in
g
Du
r
in
g
au
to
n
o
m
o
u
s
f
lig
h
t
o
f
t
h
e
UAV,
th
e
s
y
s
tem
is
ca
p
ab
le
o
f
tr
ac
k
in
g
in
tr
u
d
er
s
/r
o
d
e
n
ts
d
etec
ted
with
in
th
e
p
er
im
eter
o
f
th
e
s
u
r
v
eillan
ce
ar
ea
.
Als
o
,
th
e
UA
V
is
ca
p
ab
le
o
f
aler
tin
g
s
p
ec
if
ied
p
er
s
o
n
n
el
(
s
ec
u
r
ity
p
e
r
s
o
n
n
el)
in
t
h
e
ca
s
e
o
f
d
etec
tin
g
a
n
in
tr
u
d
er
u
s
in
g
R
asp
b
er
r
y
Pi
3
B
+
B
o
ar
d
an
d
R
asp
b
er
r
y
Pi
C
am
er
a
with
n
ig
h
t
v
is
io
n
len
s
.
I
n
s
tr
u
ctio
n
s
wer
e
g
i
v
en
to
th
e
s
y
s
tem
to
b
e
a
b
le
to
ca
r
r
y
o
u
t
t
h
e
n
ec
ess
ar
y
ac
tio
n
o
n
in
f
o
r
m
atio
n
o
b
tain
ed
f
r
o
m
th
e
ca
m
er
a
f
ee
d
.
Ob
ject
tr
ac
k
in
g
alg
o
r
ith
m
was
d
ev
elo
p
ed
u
s
in
g
C
o
n
v
o
lu
tio
n
al
Neu
r
al
Netwo
r
k
s
(
C
NN)
wh
ich
was tr
ain
ed
a
n
d
d
ep
l
o
y
ed
o
n
to
th
e
r
asp
b
e
r
r
y
p
i.
Sam
p
le
im
ag
es
o
f
d
if
f
er
e
n
t
o
b
jects
wer
e
g
o
tten
f
r
o
m
an
o
n
lin
e
s
o
u
r
ce
an
d
t
h
e
m
o
d
el
was
tr
ain
ed
u
s
in
g
a
tem
p
late
o
f
th
e
Go
o
g
le
tr
ain
ed
m
o
d
el.
T
h
e
m
o
d
el
was
tr
ain
ed
to
id
en
tify
o
b
jects
f
r
o
m
a
f
r
am
e
in
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4
8
5
6
Dev
elo
p
men
t o
f a
r
ea
l
-
time
fr
a
mewo
r
k
fo
r
fa
r
m
mo
n
ito
r
in
g
u
s
in
g
d
r
o
n
e
tech
n
o
lo
g
y
(
A
d
ek
u
n
le
T.
Oye
la
mi
)
247
v
id
eo
a
n
d
id
en
tify
with
a
co
n
f
id
en
ce
in
te
r
v
al
o
f
a
b
o
v
e
6
0
%.
A
b
o
u
n
d
in
g
b
o
x
is
cr
ea
te
d
ar
o
u
n
d
th
e
im
ag
es
ca
p
tu
r
ed
b
y
th
e
ca
m
er
a
a
n
d
co
m
p
ar
e
d
with
th
e
m
o
d
el
t
r
ain
ed
.
On
ce
t
h
e
co
n
f
id
en
ce
in
ter
v
al,
wh
ich
is
th
e
s
im
ilar
ity
lev
el,
is
ab
o
v
e
7
0
%,
th
e
s
y
s
tem
ac
tiv
ates
t
h
e
b
u
zz
er
to
cr
ea
te
an
alar
m
s
y
s
tem
an
d
aler
t
th
e
n
ec
ess
ar
y
p
er
s
o
n
n
el.
T
h
e
r
asp
b
e
r
r
y
p
i
was
b
o
o
t
lo
ad
ed
with
R
asp
b
ian
OS
wh
ic
h
wo
u
ld
en
a
b
le
th
e
tr
ac
k
in
g
alg
o
r
ith
m
s
to
f
u
n
ctio
n
well
an
d
ea
s
ily
im
p
lem
en
ted
.
A
L
i
n
u
x
o
p
e
r
atin
g
s
y
s
tem
was
u
s
ed
as
th
e
co
m
m
u
n
icatio
n
lin
k
b
etwe
en
th
e
r
asp
b
er
r
y
p
i
an
d
th
e
p
er
s
o
n
al
co
m
p
u
ter
.
T
h
e
s
cr
ee
n
s
h
o
ts
o
f
th
e
B
o
o
t
lo
ad
in
g
R
asp
b
er
r
y
Pi
with
R
asp
b
ian
OS a
r
e
s
h
o
wn
in
Fig
u
r
e
3
.
Fig
u
r
e
2
.
Miss
io
n
p
lan
n
er
f
lig
h
t scr
ee
n
Fig
u
r
e
3
.
B
o
o
t lo
ad
in
g
R
asp
b
er
r
y
p
i w
ith
R
asp
b
ian
OS
c.
R
em
o
te
n
av
ig
atio
n
T
h
e
s
y
s
tem
is
ca
p
ab
le
o
f
r
e
m
o
te
n
a
v
ig
atio
n
co
n
tr
o
l
in
wh
ich
th
e
s
y
s
tem
ca
n
b
e
co
n
tr
o
lled
a
n
d
r
ed
ir
ec
ted
f
r
o
m
a
r
em
o
te
lo
ca
tio
n
.
T
o
ef
f
ec
tiv
ely
im
p
le
m
en
t
th
is
s
y
s
tem
,
E
SP
8
2
6
6
W
i
-
Fi
Mo
d
u
le
an
d
SFM
-
2
7
DC
3
-
24
V
b
u
zz
e
r
c
o
m
p
o
n
en
ts
ar
e
u
s
ed
.
T
h
e
W
i
-
Fi
m
o
d
u
le
was
co
n
n
ec
ted
to
th
e
telem
etr
y
p
o
r
t
o
f
th
e
f
lig
h
t
co
n
tr
o
ller
v
ia
a
te
lem
etr
y
ca
b
le.
T
h
e
s
y
s
tem
was
p
o
wer
ed
o
n
a
n
d
th
e
W
i
-
Fi
m
o
d
u
le
h
o
s
ted
a
n
etwo
r
k
o
n
th
e
s
y
s
tem
wh
i
ch
was
co
n
n
ec
te
d
v
ia
a
lap
to
p
.
T
h
e
Miss
io
n
p
lan
n
er
s
o
f
twar
e
was
o
p
en
e
d
an
d
co
n
n
ec
ted
to
t
h
e
f
lig
h
t
co
n
tr
o
ller
v
ia
th
e
UDP
p
r
o
to
co
l
wh
i
ch
th
en
g
a
v
e
a
two
-
way
co
n
n
ec
tio
n
to
an
d
f
r
o
m
th
e
UAV
in
wh
ich
d
ata
is
s
en
t.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l.
9
,
N
o
.
4
,
Dec
em
b
er
2
0
2
0
:
2
4
4
–
250
248
3.
RE
SU
L
T
S AN
D
AN
AL
Y
SI
S
T
h
e
q
u
ad
c
o
p
ter
was
p
o
wer
e
d
b
y
th
e
5
0
0
0
m
Ah
L
i
P
o
b
atter
y
.
I
t
was
r
ec
o
r
d
ed
th
at
th
e
f
lig
h
t
tim
e
p
r
o
v
id
ed
b
y
th
e
b
atter
y
was
ap
p
r
o
x
im
ately
2
5
m
in
u
tes
at
h
alf
th
r
o
ttle
wh
ile
test
in
g
o
n
a
p
o
r
tio
n
o
f
th
e
f
ar
m
lan
d
.
I
t
was
in
th
e
r
em
o
te
-
co
n
tr
o
lled
f
lig
h
t
th
a
t
th
is
was
o
b
s
er
v
ed
wh
en
th
e
s
y
s
tem
was
p
u
t
in
to
co
n
tin
u
o
u
s
f
lig
h
t.
T
h
e
q
u
ad
co
p
ter
was
p
o
wer
e
d
b
y
th
e
5
0
0
0
m
Ah
L
i
P
o
b
atter
y
.
I
t
was
r
ec
o
r
d
ed
th
at
th
e
f
lig
h
t
tim
e
was
ap
p
r
o
x
im
ately
1
5
m
in
u
tes
at
f
u
ll
th
r
o
ttle
an
d
2
5
m
in
u
tes
at
h
al
f
th
r
o
ttle.
I
t
was
in
th
e
r
em
o
te
-
co
n
t
r
o
lled
f
lig
h
t
t
h
at
th
is
was
o
b
s
er
v
ed
.
W
ay
p
o
in
ts
wer
e
u
p
lo
ad
ed
o
n
th
e
q
u
ad
co
p
te
r
an
d
it
was
o
b
s
er
v
ed
th
at
th
e
d
r
o
n
e
(
Fig
u
r
e
4
)
f
o
llo
wed
th
e
wa
y
p
o
in
ts
with
s
o
m
e
d
is
cr
ep
an
cie
s
d
u
e
t
o
th
e
f
lig
h
t
in
s
tab
ilit
y
.
Af
ter
g
o
in
g
th
r
o
u
g
h
ea
ch
way
p
o
in
t,
it r
etu
r
n
ed
to
th
e
lau
n
ch
p
o
s
itio
n
an
d
lan
d
e
d
.
T
h
e
lan
d
i
n
g
g
ea
r
s
o
f
t
h
e
U
AV
wer
e
d
esig
n
e
d
an
d
c
u
s
t
o
m
ized
u
s
in
g
th
e
PTC
C
r
eo
Par
am
etr
ic
d
esig
n
s
o
f
twar
e.
T
h
e
d
esig
n
e
d
C
AD
m
o
d
el
was
co
n
v
er
te
d
to
.
s
tl
(
s
ter
eo
lith
o
g
r
a
p
h
y
)
f
o
r
m
at
r
ep
r
esen
tin
g
a
th
r
ee
-
d
im
en
s
io
n
al
s
u
r
f
ac
e
a
s
an
ass
em
b
ly
o
f
p
lan
ar
tr
ian
g
les.
T
h
e
b
u
ild
o
r
ien
tatio
n
w
as
d
esig
n
ed
in
s
u
ch
a
way
t
h
at
th
e
x
-
y
p
lan
e
m
a
k
es
th
e
m
o
d
el
to
b
e
co
n
v
en
i
en
tly
p
o
s
itio
n
ed
an
d
en
s
u
r
in
g
th
at
th
e
s
h
o
r
test
d
im
en
s
io
n
is
i
n
th
e
z
d
ir
ec
t
io
n
th
e
r
eb
y
r
ed
u
cin
g
th
e
n
u
m
b
er
o
f
la
y
er
s
an
d
s
h
o
r
ten
i
n
g
th
e
b
u
ild
tim
e.
T
h
e
s
licin
g
s
o
f
twar
e
u
s
ed
to
c
o
n
v
er
t
th
e
.
s
tl
m
o
d
el
to
g
-
co
d
e
s
f
o
r
t
h
e
e
v
en
tu
al
3
D
p
r
in
tin
g
is
C
UR
A.
Fig
u
r
e
5
s
h
o
ws th
e
cu
s
to
m
ized
lan
d
in
g
g
ea
r
d
esig
n
e
d
an
d
3
D
-
p
r
i
n
ted
f
o
r
th
e
d
r
o
n
e
T
h
e
r
asp
b
er
r
y
p
i,
b
ein
g
b
o
o
t
lo
ad
ed
with
t
h
e
R
asp
b
ian
o
p
er
atin
g
s
y
s
tem
v
ia
NOOBS
s
o
f
twar
e,
was
p
o
wer
ed
o
n
an
d
all
co
m
p
o
n
en
ts
wer
e
in
g
o
o
d
c
o
n
d
iti
o
n
.
I
t
s
u
cc
ess
f
u
lly
co
n
n
ec
ted
to
a
W
i
-
Fi
n
etwo
r
k
h
o
s
ted
an
d
co
u
l
d
s
en
d
an
d
r
ec
eiv
e
d
ata.
T
h
e
ca
m
e
r
a
was
co
n
n
ec
ted
to
th
e
ca
m
er
a
p
o
r
t
a
n
d
th
e
in
te
r
f
ac
e
was
en
ab
led
o
n
th
e
r
asp
b
e
r
r
y
p
i.
Sam
p
le
im
ag
es
wer
e
tak
en
an
d
v
id
eo
s
wer
e
r
ec
o
r
d
ed
to
test
th
e
o
p
er
atio
n
o
f
th
e
ca
m
er
a
as sh
o
wn
in
Fig
u
r
e
6
.
R
ea
l
-
tim
e
im
ag
er
y
an
d
v
id
e
o
f
ee
d
f
r
o
m
th
e
d
r
o
n
e
m
o
v
em
en
ts
wer
e
tr
a
n
s
m
itted
o
v
e
r
W
i
-
Fi
to
th
e
co
m
p
u
ter
s
y
s
tem
o
n
wh
ich
it
is
b
ein
g
v
iewe
d
.
Alth
o
u
g
h
,
d
u
e
to
th
e
f
lu
ctu
atio
n
in
th
e
n
etwo
r
k
,
th
er
e
was
laten
cy
in
th
e
v
id
eo
s
tr
ea
m
b
e
in
g
tr
an
s
m
itted
,
th
u
s
,
it
ca
n
b
e
co
n
s
id
er
e
d
as
n
ea
r
r
ea
l
-
tim
e
.
T
h
e
v
id
eo
s
tr
ea
m
was
h
o
s
ted
o
n
VL
C
m
ed
ia
p
l
ay
er
o
n
a
lap
to
p
an
d
s
ev
er
al
m
o
b
ile
p
h
o
n
es
t
o
v
e
r
if
y
its
m
o
b
ilit
y
an
d
ea
s
e
o
f
co
n
n
ec
tio
n
.
Fig
u
r
e
4
.
C
o
n
f
ig
u
r
e
d
UAV
Fig
u
r
e
5
.
3
D
C
AD
m
o
d
el
o
f
th
e
lan
d
in
g
g
ea
r
Fig
u
r
e
6
.
Sam
p
le
im
a
g
e
tak
en
b
y
ca
m
er
a
to
test
its
f
u
n
ctio
n
ality
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4
8
5
6
Dev
elo
p
men
t o
f a
r
ea
l
-
time
fr
a
mewo
r
k
fo
r
fa
r
m
mo
n
ito
r
in
g
u
s
in
g
d
r
o
n
e
tech
n
o
lo
g
y
(
A
d
ek
u
n
le
T.
Oye
la
mi
)
249
T
h
e
s
y
s
tem
was
co
n
f
ig
u
r
ed
to
f
o
llo
w
t
h
e
f
lig
h
t
p
atter
n
c
u
r
r
en
tly
ac
tiv
e
in
its
m
em
o
r
y
an
d
ea
c
h
f
lig
h
t
p
an
h
as
a
h
o
m
e
lo
ca
ti
o
n
.
Dif
f
er
e
n
t
n
av
ig
atio
n
p
o
i
n
ts
wer
e
d
ev
elo
p
ed
a
n
d
u
p
lo
ad
ed
to
th
e
f
lig
h
t
co
n
tr
o
ller
wh
ich
was
co
n
n
ec
ted
v
ia
th
e
W
i
-
Fi
n
etwo
r
k
f
r
o
m
th
e
r
em
o
te
d
ev
ice.
T
h
e
s
y
s
tem
was
o
b
s
er
v
ed
to
tr
an
s
it
b
etwe
en
d
if
f
er
e
n
t
way
p
o
in
ts
with
a
litt
le
d
e
lay
in
tr
a
n
s
itin
g
d
u
e
to
tim
e
tak
en
to
u
p
l
o
ad
th
e
n
ew
way
p
o
i
n
ts
.
Sen
s
o
r
s
wer
e
p
lace
d
at
s
tr
at
eg
ic
lo
ca
tio
n
s
o
n
th
e
a
r
ea
b
ein
g
m
o
n
ito
r
e
d
.
T
h
ese
s
en
s
o
r
s
,
wh
ic
h
ar
e
u
ltra
s
o
n
ic,
p
ass
iv
e
in
f
r
ar
ed
(
PIR)
an
d
m
o
tio
n
s
en
s
o
r
s
,
d
etec
t
u
n
ex
p
ec
te
d
an
d
u
n
wan
ted
m
o
tio
n
i
n
th
at
ar
ea
an
d
r
aise
an
alar
m
b
y
ac
tiv
atin
g
a
lam
p
at
th
e
b
ase
s
tatio
n
.
W
h
ile
d
if
f
er
en
t
f
l
ig
h
t
p
atter
n
s
h
a
v
e
b
ee
n
co
n
s
tr
u
cted
f
o
r
ea
ch
l
o
ca
tio
n
o
f
th
e
s
en
s
o
r
s
,
th
e
ad
m
in
is
tr
ato
r
o
n
ly
u
p
lo
ad
s
th
e
f
lig
h
t
p
atter
n
co
r
r
esp
o
n
d
in
g
to
t
h
e
lo
ca
tio
n
o
f
in
ter
est
an
d
th
e
UAV
au
t
o
m
atica
lly
r
ep
r
o
g
r
am
its
f
lig
h
t
r
o
u
te
to
th
e
n
ew
f
lig
h
t
r
o
u
te
an
d
m
o
v
es
to
th
e
n
ew
lo
ca
tio
n
f
o
r
s
u
r
v
eillan
ce
wh
ile
tr
an
s
m
itti
n
g
im
ag
er
y
to
th
e
b
ase
s
tatio
n
.
Af
ter
s
atis
f
ac
to
r
y
s
u
r
v
eillan
ce
,
th
e
ad
m
in
is
tr
ato
r
u
p
lo
ad
s
th
e
d
ef
au
lt
s
u
r
v
eillan
ce
f
lig
h
t
p
atter
n
an
d
th
e
UAV
r
etu
r
n
s
to
s
u
r
v
ei
llan
ce
.
4.
CO
NCLU
SI
O
N
A
s
u
r
v
eillan
ce
d
r
o
n
e
h
as
b
e
en
s
u
cc
ess
f
u
lly
co
n
f
ig
u
r
ed
a
n
d
d
e
p
lo
y
ed
an
d
a
d
eq
u
ately
eq
u
ip
p
e
d
with
r
em
o
te
n
av
ig
atio
n
an
d
f
lig
h
t
p
atter
n
co
n
tr
o
l
wh
ich
ca
n
b
e
u
s
ed
f
o
r
lar
g
e
s
ca
le
f
ar
m
m
o
n
ito
r
i
n
g
.
Usi
n
g
a
r
asp
b
er
r
y
p
i
b
o
a
r
d
,
liv
e
d
ata
was
ca
p
tu
r
e
d
in
t
h
e
f
o
r
m
o
f
a
v
id
e
o
s
tr
ea
m
an
d
tr
an
s
m
itted
o
v
er
a
W
i
-
Fi
n
etwo
r
k
to
b
e
d
is
p
lay
ed
u
s
in
g
a
VL
C
p
lay
e
r
o
n
an
y
d
e
v
ice.
W
ith
th
e
g
r
a
p
h
ics
p
r
o
ce
s
s
in
g
ca
p
ab
ilit
y
o
f
th
e
b
o
ar
d
,
im
ag
es
ar
e
p
r
o
ce
s
s
ed
to
d
etec
t
th
e
p
r
esen
ce
o
f
an
im
als
o
r
h
u
m
an
in
t
r
u
d
er
s
an
d
a
n
alar
m
s
y
s
tem
o
n
b
o
ar
d
th
e
UAV
is
t
r
ig
g
er
ed
.
RE
F
E
R
E
NC
E
S
[1
]
F
o
o
d
a
n
d
Ag
ric
u
lt
u
re
Org
a
n
iza
ti
o
n
o
f
t
h
e
Un
it
e
d
Na
ti
o
n
s
,
“
T
h
e
fu
t
u
re
o
f
f
o
o
d
a
n
d
a
g
ricu
lt
u
r
e
:
Tren
d
s
a
n
d
c
h
a
ll
e
n
g
e
s,
”
2
0
1
7
.
[2
]
R.
G
iac
o
m
o
a
n
d
G
.
Da
v
id
,
“
Un
m
a
n
n
e
d
Ae
rial
S
y
ste
m
s
(UA
S
)
i
n
Ag
ricu
lt
u
re
:
Re
g
u
latio
n
s
a
n
d
G
o
o
d
P
ra
c
ti
c
e
s,
”
E
-
Ag
ric
u
lt
u
re
in
Actio
n
:
Dr
o
n
e
s f
o
r
Ag
ric
u
lt
u
re
,
2
0
1
7
.
[3
]
K.
J.
Ca
m
p
b
e
ll
,
e
t
a
l
.
,
“
T
h
e
n
e
x
t
g
e
n
e
ra
ti
o
n
o
f
r
o
d
e
n
t
e
ra
d
ica
ti
o
n
s:
In
n
o
v
a
t
iv
e
tec
h
n
o
l
o
g
ies
a
n
d
to
o
ls
t
o
imp
r
o
v
e
sp
e
c
ies
sp
e
c
ifi
c
it
y
a
n
d
in
c
re
a
se
th
e
ir
fe
a
sib
il
it
y
o
n
islan
d
s,
”
Bi
o
l
o
g
ica
l
Co
n
se
rv
a
ti
o
n
,
v
o
l.
1
8
,
n
o
.
5
,
p
p
.
4
7
–
5
8
,
2
0
1
5
.
[4
]
A.
M
.
Ba
p
p
y
,
e
t
a
l
.
,
“
De
sig
n
a
n
d
De
v
e
lo
p
m
e
n
t
o
f
U
n
m
a
n
n
e
d
Ae
rial
Ve
h
icle
(Dro
n
e
)
fo
r
Civ
i
l
Ap
p
li
c
a
ti
o
n
s,
”
Ba
c
h
e
lo
r
Th
e
sis,
E
lec
tri
c
a
l
a
n
d
El
e
c
tro
n
ic E
n
g
i
n
e
e
rin
g
,
BRAC
Un
i
v
e
rsity
,
2
0
1
5
.
[5
]
M
.
Ha
ss
a
n
a
li
a
n
a
n
d
A.
A
b
d
e
lk
e
fi,
“
Clas
sifica
ti
o
n
s,
a
p
p
li
c
a
ti
o
n
s,
a
n
d
d
e
si
g
n
c
h
a
ll
e
n
g
e
s
o
f
d
r
o
n
e
s:
A
re
v
iew
,
”
Pro
g
re
ss
in
Aer
o
s
p
a
c
e
S
c
ie
n
c
e
s,
v
o
l.
9
,
n
o
.
1
,
p
p
.
9
9
–
1
3
1
,
2
0
1
7
.
[6
]
M
.
Br
y
so
n
,
e
t
a
l
.
,
“
Airb
o
rn
e
v
isi
o
n
-
b
a
se
d
m
a
p
p
i
n
g
a
n
d
c
las
sifica
ti
o
n
o
f
larg
e
fa
rm
lan
d
e
n
v
iro
n
m
e
n
ts,
”
J
o
u
rn
a
l
o
f
Fi
e
ld
R
o
b
o
ti
c
s,
v
o
l.
2
7
,
n
o
.
5
,
p
p
.
6
3
2
–
6
5
5
,
2
0
1
0
.
[7
]
R.
Ve
n
t
u
ra
a
n
d
P
.
U.
Li
m
a
,
“
S
e
a
rc
h
a
n
d
Re
sc
u
e
R
o
b
o
ts:
Th
e
C
i
v
il
P
ro
tec
ti
o
n
Tea
m
s
o
f
t
h
e
F
u
tu
re
,
”
2
0
1
2
T
h
ird
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
Eme
rg
in
g
S
e
c
u
rity T
e
c
h
n
o
lo
g
ies
,
Li
sb
o
n
,
2
0
1
2
,
p
p
.
1
2
-
19
.
[8
]
A.
O.
Ag
b
e
y
a
n
g
i,
J.
O
.
Od
iete
,
a
n
d
A.
B.
Olo
r
u
n
lo
m
e
ru
e
,
“
Re
v
iew
o
n
UA
Vs
u
se
d
fo
r
Ae
rial
S
u
rv
e
il
l
a
n
c
e
,
”
J
o
u
rn
a
l
o
f
M
u
lt
i
d
isc
ip
l
in
a
ry
En
g
in
e
e
rin
g
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
l
o
g
y
,
v
o
l.
3
,
n
o
.
1
0
,
p
p
.
5
7
1
3
–
5
7
1
9
,
2
0
1
6
.
[9
]
B.
Ba
b
u
,
K.
Ka
n
d
a
sa
m
y
,
J.
D.
Na
ll
a
siv
a
m
,
“
M
o
d
e
li
n
g
o
f
Un
m
a
n
n
e
d
S
u
rv
e
il
la
n
c
e
Airc
ra
ft,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
L
a
tes
t
En
g
i
n
e
e
rin
g
Res
e
a
rc
h
a
n
d
A
p
p
li
c
a
ti
o
n
s (IJL
ER
A)
,
v
o
l.
2
,
n
o
.
1
1
,
p
p
.
4
1
-
4
8
,
2
0
1
7
.
[1
0
]
M
.
A.
Di
n
e
sh
,
e
t
a
l
.
,
“
De
v
e
lo
p
m
e
n
t
o
f
a
n
Au
to
n
o
m
o
u
s
Dro
n
e
fo
r
S
u
rv
e
il
lan
c
e
Ap
p
li
c
a
ti
o
n
,
”
I
n
ter
n
a
t
io
n
a
l
Res
e
a
rc
h
J
o
u
rn
a
l
o
f
E
n
g
i
n
e
e
rin
g
a
n
d
T
e
c
h
n
o
l
o
g
y
(IR
J
E
T
),
v
o
l.
5
,
n
o
.
8
,
p
p
.
3
3
1
-
3
3
3
,
2
0
1
8
.
[1
1
]
S
.
Ward
,
e
t
a
l
.,
“
Au
to
n
o
m
o
u
s
U
AV
s
wild
li
fe
d
e
tec
ti
o
n
u
sin
g
t
h
e
rm
a
l
ima
g
in
g
,
p
re
d
icti
v
e
n
a
v
ig
a
ti
o
n
a
n
d
c
o
m
p
u
ter
v
isio
n
,
”
in
2
0
1
6
IEE
E
Aer
o
sp
a
c
e
Co
n
fer
e
n
c
e
,
Big
S
k
y
,
M
T,
2
0
1
6
,
p
p
.
1
-
8
.
[1
2
]
G
.
L
.
S
.
Va
le,
“
Ra
sp
b
e
rry
Dro
n
e
:
Un
m
a
n
n
e
d
Ae
rial
Ve
h
icle
(UA
V
),
”
M
a
ste
r
Th
e
sis,
Tele
c
o
m
m
u
n
ica
ti
o
n
s
a
n
d
In
fo
rm
a
ti
o
n
E
n
g
i
n
e
e
rin
g
,
In
st
it
u
t
o
S
u
p
e
rio
r
Téc
n
ico
,
Li
sb
o
a
,
P
o
rtu
g
a
l,
2
0
1
5
.
[1
3
]
A.
M
a
z
u
r,
“
Au
to
n
o
m
o
u
s
o
p
e
ra
ti
o
n
a
n
d
c
o
n
tro
l
o
f
a
M
u
lt
ir
o
to
r
U
n
m
a
n
n
e
d
Ae
rial
Ve
h
icle
th
r
o
u
g
h
4
G
LT
E
u
sin
g
o
n
b
o
a
rd
G
P
S
a
n
d
ima
g
e
p
r
o
c
e
ss
in
g
,
”
F
i
n
a
l
Ye
a
r
P
ro
jec
t
Re
p
o
rt,
F
a
c
u
l
ty
o
f
E
n
g
i
n
e
e
rin
g
,
C
o
m
p
u
ti
n
g
a
n
d
M
a
th
e
m
a
ti
c
s,
Th
e
Un
i
v
e
rsity
o
f
Wes
tern
Au
stra
li
a
,
2
0
1
4
.
[1
4
]
D.
R.
E
m
m
a
n
u
e
l
,
S
.
Ja
sw
a
n
th
,
a
n
d
J.
M
.
Ku
m
a
r,
“
De
sig
n
a
n
d
imp
l
e
m
e
n
tatio
n
o
f
Qu
a
d
c
o
p
ter
d
r
o
n
e
with
KK
2
.
1
.
5
fli
g
h
t
c
o
n
tro
ll
e
r,
”
Ca
p
st
o
n
e
P
ro
jec
t
Re
p
o
rt,
S
c
h
o
o
l
o
f
El
e
c
tro
n
ics
a
n
d
C
o
m
m
u
n
ica
ti
o
n
En
g
in
e
e
rin
g
,
Lo
v
e
l
y
P
ro
fe
ss
io
n
a
l
U
n
iv
e
rsit
y
,
I
n
d
ia,
2
0
1
6
.
[1
5
]
C.
Ro
b
e
rts,
“
G
P
S
G
u
id
e
d
Au
t
o
n
o
m
o
u
s
Dr
o
n
e
,
”
Un
iv
e
rsity
o
f
Ev
a
n
sv
il
le,
C
o
ll
e
g
e
o
f
E
n
g
in
e
e
rin
g
a
n
d
C
o
m
p
u
ter
S
c
ien
c
e
,
Ev
a
n
sv
il
le,
I
n
d
ia
n
a
,
2
0
1
6
.
[1
6
]
X.
S
h
e
n
,
J.
F
a
n
,
a
n
d
H.
Wan
g
,
“
De
sig
n
a
n
d
sim
u
lati
o
n
o
f
e
ig
h
t
-
ro
to
r
u
n
m
a
n
n
e
d
a
e
rial
v
e
h
icle
b
a
se
d
o
n
h
y
b
ri
d
c
o
n
tro
l
sy
ste
m
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Aer
o
sp
a
c
e
En
g
in
e
e
rin
g
,
2
0
1
8
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l.
9
,
N
o
.
4
,
Dec
em
b
er
2
0
2
0
:
2
4
4
–
250
250
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
Dr
.
Adeku
n
le
T.
O
y
e
la
m
i
h
o
l
d
s
a
P
h
.
D
.
d
e
g
re
e
in
M
e
c
h
a
n
ica
l
En
g
i
n
e
e
rin
g
wit
h
a
b
ias
fo
r
Co
m
p
u
ter
Ai
d
e
d
E
n
g
in
e
e
rin
g
.
He
c
u
rre
n
tl
y
lec
tu
re
s
a
t
th
e
d
e
p
a
rtme
n
t
o
f
M
e
c
h
a
tro
n
ics
En
g
i
n
e
e
rin
g
,
F
e
d
e
ra
l
U
n
iv
e
rsit
y
o
f
A
g
ricu
lt
u
re
,
A
b
e
o
k
u
ta,
Nig
e
ri
a
a
n
d
so
m
e
o
f
th
e
c
o
u
rse
s
h
e
tea
c
h
e
s
a
t
b
o
th
u
n
d
e
rg
ra
d
u
a
te
a
n
d
p
o
st
g
r
a
d
u
a
te
lev
e
ls
i
n
c
lu
d
e
:
In
tro
d
u
c
ti
o
n
to
M
e
c
h
a
tr
o
n
ics
En
g
i
n
e
e
rin
g
;
Ad
v
a
n
c
e
Co
m
p
u
ter
Aid
e
d
De
sig
n
a
n
d
M
a
n
u
fa
c
tu
rin
g
;
a
n
d
Co
m
p
u
ters
,
Op
ti
m
iza
ti
o
n
,
a
n
d
De
sig
n
.
Aki
n
a
d
e
Aded
a
y
o
S
.
is
a
g
ra
d
u
a
te
o
f
t
h
e
d
e
p
a
rtme
n
t
o
f
M
e
c
h
a
tro
n
ics
E
n
g
i
n
e
e
rin
g
,
F
e
d
e
ra
l
Un
iv
e
rsity
o
f
A
g
ricu
lt
u
re
,
Ab
e
o
k
u
ta,
Ni
g
e
ria.
His
a
re
a
o
f
i
n
tere
st
i
s
in
Ro
b
o
ti
c
s,
Au
to
m
a
ti
o
n
a
n
d
Co
n
tr
o
ls E
n
g
i
n
e
e
rin
g
.
O
b
ia
n
e
fo
K
in
g
sle
y
C.
is
a
g
ra
d
u
a
te
o
f
th
e
d
e
p
a
rtme
n
t
o
f
M
e
c
h
a
tro
n
ics
En
g
in
e
e
ri
n
g
,
F
e
d
e
ra
l
Un
iv
e
rsity
o
f
A
g
ricu
lt
u
re
,
Ab
e
o
k
u
ta,
Ni
g
e
ria.
His
a
re
a
o
f
re
se
a
rc
h
in
tere
st
re
v
o
l
v
e
s
ro
u
n
d
e
m
b
e
d
d
e
d
sy
ste
m
s.
Evaluation Warning : The document was created with Spire.PDF for Python.