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r
p
er
f
o
r
m
an
ce
u
s
in
g
Miss
io
n
Plan
n
e
r
s
o
f
twar
e
.
T
h
is
tec
h
n
o
lo
g
y
w
o
r
k
s
with
a
v
ar
iety
o
f
v
eh
icle
d
esig
n
s
,
s
u
ch
as
m
u
ltico
p
ter
UAVs,
f
ix
ed
win
g
,
an
d
r
o
tar
y
win
g
UA
Vs.
I
t
also
h
as
b
u
ilt
-
in
way
p
o
i
n
t
m
a
n
ag
em
en
t
an
d
th
e
ca
p
ab
ilit
y
to
d
is
p
lay
d
if
f
er
en
t
f
lig
h
t
s
tatis
tics
wh
ile
th
e
tr
ip
is
u
n
d
er
wa
y
.
Miss
io
n
Plan
n
er
ca
n
b
e
u
s
ed
as
a
GC
S
f
o
r
a
UAV
s
in
ce
i
t
i
n
clu
d
es
all
o
f
th
e
ch
ar
ac
ter
is
tics
lis
ted
ab
o
v
e
an
d
is
co
m
p
atib
le
with
Ar
d
u
Pil
o
t.
T
h
e
p
r
o
ject
f
o
cu
s
es
o
n
d
esig
n
in
g
an
d
b
u
ild
in
g
a
f
u
n
ctio
n
al
q
u
ad
co
p
ter
ca
p
ab
l
e
o
f
a
u
to
n
o
m
o
u
s
n
av
ig
atio
n
b
as
ed
o
n
p
r
ed
ef
i
n
ed
t
r
ajec
to
r
ies.
T
h
r
o
u
g
h
th
is
d
ev
el
o
p
m
en
t,
th
e
s
y
s
tem
is
in
ten
d
e
d
to
s
er
v
e
as
a
f
o
u
n
d
atio
n
f
o
r
f
u
tu
r
e
ap
p
licatio
n
s
in
au
to
n
o
m
o
u
s
m
is
s
io
n
s
an
d
ed
u
ca
tio
n
al
r
esear
ch
in
UAV
tech
n
o
lo
g
ies.
2.
Q
UADC
O
P
T
E
R
UAV
Har
d
war
e
an
d
s
o
f
twar
e
ar
e
in
teg
r
ated
to
p
o
wer
a
q
u
ad
co
p
t
er
.
Fig
u
r
e
1
co
n
tain
s
m
ajo
r
c
o
m
p
o
n
en
ts
o
f
q
u
a
d
co
p
te
r
UAV.
Fig
u
r
e
1
.
Qu
a
d
co
p
ter
co
m
p
o
n
en
ts
2
.
1
.
AP
M
2
.
8
f
lig
ht
co
ntr
o
ller
T
h
e
APM
2
.
8
Fli
g
h
t
C
o
n
tr
o
ller
is
an
o
p
en
-
s
o
u
r
ce
a
u
to
p
ilo
t
s
y
s
tem
d
ev
elo
p
ed
as
p
ar
t
o
f
th
e
Ar
d
u
Pil
o
t
p
r
o
ject,
d
esig
n
ed
to
co
n
tr
o
l
an
d
s
tab
ilize
u
n
m
an
n
ed
ae
r
ial
v
eh
icles
(
UAVs)
.
I
t
f
ea
tu
r
es
an
o
n
b
o
a
r
d
I
n
er
tial M
ea
s
u
r
em
en
t U
n
it (
I
MU
)
with
g
y
r
o
s
co
p
e
an
d
ac
ce
ler
o
m
eter
s
en
s
o
r
s
,
a
b
ar
o
m
etr
i
c
p
r
ess
u
r
e
s
en
s
o
r
f
o
r
altitu
d
e
co
n
tr
o
l,
a
n
d
in
ter
f
ac
es
f
o
r
ex
ter
n
al
m
o
d
u
les
lik
e
GPS,
telem
etr
y
,
an
d
r
ad
i
o
r
ec
eiv
er
s
.
APM
2
.
8
s
u
p
p
o
r
ts
au
to
n
o
m
o
u
s
f
lig
h
t
m
is
s
io
n
s
th
r
o
u
g
h
way
p
o
i
n
t
n
a
v
ig
atio
n
,
wh
ic
h
ca
n
b
e
p
r
o
g
r
am
m
ed
an
d
m
o
n
ito
r
ed
u
s
in
g
Miss
io
n
Plan
n
er
s
o
f
twar
e.
Alth
o
u
g
h
it'
s
co
n
s
id
er
ed
a
leg
ac
y
s
y
s
tem
co
m
p
ar
e
d
to
n
ewe
r
Pix
h
awk
v
er
s
io
n
s
,
APM
2
.
8
r
em
ain
s
a
r
eliab
le
an
d
co
s
t
-
ef
f
ec
tiv
e
ch
o
ice
f
o
r
r
esear
ch
,
ed
u
ca
tio
n
,
an
d
h
o
b
b
y
is
t
UAV
p
r
o
jects d
u
e
to
its
s
im
p
licity
,
wid
e
co
m
m
u
n
ity
s
u
p
p
o
r
t,
an
d
co
m
p
atib
ilit
y
with
v
ar
i
o
u
s
UAV
co
n
f
ig
u
r
atio
n
s
.
2
.
2
.
E
lect
ro
nic sp
ee
d c
o
ntr
o
ller
(
E
SC)
An
elec
tr
o
n
ic
s
p
ee
d
c
o
n
tr
o
ller
(
E
SC
)
is
a
cr
u
cial
co
m
p
o
n
en
t
in
a
q
u
ad
c
o
p
ter
'
s
p
r
o
p
u
ls
io
n
s
y
s
tem
th
at
r
eg
u
lates
th
e
s
p
ee
d
,
d
ir
ec
tio
n
,
an
d
b
r
ak
i
n
g
o
f
a
B
r
u
s
h
less
D
C
(
B
L
D
C
)
m
o
to
r
b
ased
o
n
s
ig
n
als
r
ec
eiv
ed
f
r
o
m
th
e
f
lig
h
t
co
n
t
r
o
ller
.
I
n
UAVs,
ea
ch
m
o
to
r
is
p
air
e
d
with
an
E
SC
,
wh
ich
co
n
v
er
ts
lo
w
-
p
o
wer
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
PW
M)
s
ig
n
als
in
to
h
ig
h
-
p
o
wer
th
r
ee
-
p
h
ase
A
C
cu
r
r
en
t
n
ee
d
ed
to
d
r
iv
e
th
e
m
o
to
r
s
ef
f
icien
tly
.
E
SC
s
r
e
s
p
o
n
d
in
r
ea
l
-
tim
e
to
f
lig
h
t
co
m
m
an
d
s
,
ad
ju
s
tin
g
m
o
to
r
s
p
ee
d
to
m
ain
tain
s
tab
ilit
y
,
ex
ec
u
te
m
an
eu
v
er
s
,
an
d
co
n
t
r
o
l
altitu
d
e
an
d
d
ir
ec
tio
n
.
T
h
ey
also
o
f
t
en
in
clu
d
e
b
u
ilt
-
in
s
af
ety
f
ea
t
u
r
es
lik
e
m
o
to
r
cu
t
-
o
f
f
,
o
v
er
cu
r
r
en
t p
r
o
tectio
n
,
an
d
s
o
m
etim
es tele
m
etr
y
f
ee
d
b
a
ck
,
m
ak
in
g
th
em
ess
en
tial f
o
r
s
m
o
o
th
an
d
r
eliab
le
f
lig
h
t p
er
f
o
r
m
a
n
ce
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Dev
elo
p
men
t o
f a
u
to
n
o
mo
u
s
q
u
a
d
c
o
p
ter u
n
ma
n
n
ed
a
eria
l
ve
h
icle
u
s
in
g
A
P
M 2
.
8
…
(
Mo
h
d
Yu
s
u
f A
mra
n
)
65
2
.
3
.
B
rus
hles
s
D
C
(
B
L
DC)
m
o
t
o
r
A
B
r
u
s
h
less
D
C
(
B
L
D
C
)
m
o
to
r
is
a
h
ig
h
ly
ef
f
icien
t
an
d
d
u
r
ab
le
elec
tr
ic
m
o
to
r
co
m
m
o
n
l
y
u
s
ed
in
q
u
ad
co
p
ter
s
an
d
o
th
er
UAVs
d
u
e
to
its
lig
h
tweig
h
t
d
esig
n
,
l
o
w
m
ain
ten
a
n
ce
,
a
n
d
p
r
ec
is
e
co
n
tr
o
l
ca
p
ab
ilit
ies.
Un
lik
e
b
r
u
s
h
ed
m
o
to
r
s
,
B
L
DC
m
o
to
r
s
d
o
n
o
t
h
av
e
p
h
y
s
i
ca
l
b
r
u
s
h
es
o
r
a
co
m
m
u
tato
r
;
in
s
tead
,
th
ey
u
s
e
elec
tr
o
n
ic
co
m
m
u
tatio
n
v
ia
an
elec
tr
o
n
ic
s
p
ee
d
c
o
n
tr
o
ll
er
(
E
SC
)
to
s
witch
cu
r
r
en
t
th
r
o
u
g
h
th
e
m
o
to
r
win
d
in
g
s
.
T
h
is
r
esu
lts
in
le
s
s
f
r
ictio
n
,
h
ig
h
e
r
ef
f
icien
cy
,
an
d
lo
n
g
er
life
s
p
an
.
I
n
q
u
ad
co
p
t
er
s
,
B
L
D
C
m
o
to
r
s
ar
e
r
esp
o
n
s
ib
le
f
o
r
g
en
er
atin
g
th
e
th
r
u
s
t
r
eq
u
i
r
ed
f
o
r
lift
in
g
an
d
m
an
e
u
v
er
in
g
b
y
r
a
p
id
ly
s
p
in
n
in
g
th
e
p
r
o
p
eller
s
.
T
h
eir
ab
ilit
y
to
c
h
an
g
e
s
p
ee
d
q
u
ic
k
ly
an
d
ac
c
u
r
ately
m
ak
es
th
em
id
ea
l
f
o
r
m
ain
tain
in
g
f
lig
h
t
s
tab
ilit
y
an
d
ex
ec
u
tin
g
r
esp
o
n
s
iv
e
co
n
tr
o
l c
o
m
m
an
d
s
d
u
r
in
g
b
o
th
m
a
n
u
al
an
d
au
to
n
o
m
o
u
s
o
p
er
atio
n
s
.
2
.
4
.
P
r
o
peller
A
p
r
o
p
eller
is
a
r
o
tatin
g
ae
r
o
d
y
n
am
ic
d
e
v
ice
attac
h
ed
to
th
e
m
o
to
r
o
f
a
q
u
ad
co
p
ter
,
r
esp
o
n
s
ib
le
f
o
r
g
en
er
atin
g
th
e
lift
an
d
th
r
u
s
t
n
ec
ess
ar
y
f
o
r
f
lig
h
t.
I
t
o
p
e
r
ates
b
ased
o
n
ae
r
o
f
o
il
p
r
in
cip
les,
wh
er
e
th
e
r
o
tatio
n
o
f
th
e
p
r
o
p
eller
b
lad
es
th
r
o
u
g
h
th
e
air
cr
ea
tes
a
p
r
ess
u
r
e
d
if
f
er
en
ce
—
lo
wer
p
r
ess
u
r
e
a
b
o
v
e
th
e
b
lad
e
a
n
d
h
ig
h
er
p
r
ess
u
r
e
b
el
o
w
—
r
esu
ltin
g
in
u
p
war
d
th
r
u
s
t.
I
n
q
u
ad
co
p
ter
s
,
th
er
e
ar
e
ty
p
ical
ly
f
o
u
r
p
r
o
p
eller
s
ar
r
an
g
e
d
in
a
cr
o
s
s
co
n
f
ig
u
r
at
io
n
,
with
alter
n
atin
g
clo
ck
wis
e
(
C
W
)
an
d
co
u
n
ter
clo
ck
wis
e
(
C
C
W
)
r
o
tatio
n
to
b
alan
ce
to
r
q
u
e
an
d
m
ain
tain
s
tab
ilit
y
.
T
h
e
s
ize,
p
itch
,
a
n
d
m
ater
ial
o
f
th
e
p
r
o
p
eller
af
f
ec
t
th
e
d
r
o
n
e’
s
ef
f
icien
cy
,
s
tab
ilit
y
,
an
d
m
an
e
u
v
er
ab
ilit
y
.
Pr
o
p
er
ly
b
alan
ce
d
an
d
m
atch
e
d
p
r
o
p
eller
s
ar
e
e
s
s
en
tial
f
o
r
s
m
o
o
t
h
f
lig
h
t p
er
f
o
r
m
a
n
ce
,
esp
ec
ially
d
u
r
in
g
r
ap
id
m
o
v
e
m
en
ts
o
r
a
u
to
n
o
m
o
u
s
m
is
s
io
n
s
.
2
.
5
.
B
a
t
t
er
y
A
b
atter
y
in
a
q
u
ad
c
o
p
ter
s
e
r
v
es
as
th
e
p
r
im
ar
y
p
o
wer
s
o
u
r
ce
,
s
u
p
p
ly
in
g
elec
tr
ical
e
n
er
g
y
to
all
o
n
b
o
a
r
d
c
o
m
p
o
n
en
ts
,
i
n
clu
d
i
n
g
th
e
f
lig
h
t
co
n
tr
o
ller
,
m
o
to
r
s
,
E
SC
s
,
s
en
s
o
r
s
,
an
d
co
m
m
u
n
icatio
n
m
o
d
u
les.
T
h
e
m
o
s
t
co
m
m
o
n
ly
u
s
ed
t
y
p
e
is
th
e
L
ith
iu
m
Po
ly
m
er
(
L
iPo
)
b
atter
y
d
u
e
to
its
h
ig
h
en
er
g
y
d
en
s
ity
,
lig
h
tweig
h
t
s
tr
u
ctu
r
e,
an
d
ab
il
ity
to
d
eliv
er
h
ig
h
cu
r
r
e
n
t
o
u
t
p
u
t
n
ec
ess
ar
y
f
o
r
p
o
wer
in
g
B
r
u
s
h
less
DC
m
o
to
r
s
.
B
atter
y
s
p
ec
if
icatio
n
s
—
s
u
ch
a
s
v
o
ltag
e
(
ty
p
ically
1
1
.
1
V
o
r
3
S
f
o
r
s
m
aller
d
r
o
n
es)
an
d
ca
p
ac
ity
(
m
ea
s
u
r
ed
in
m
Ah
)
—
d
ir
ec
tly
a
f
f
ec
t
f
lig
h
t
ti
m
e,
p
o
wer
d
eliv
er
y
,
an
d
o
v
er
all
p
er
f
o
r
m
an
ce
.
A
p
o
wer
m
o
d
u
le
is
u
s
u
ally
u
s
e
d
b
etwe
en
th
e
b
atter
y
an
d
f
lig
h
t
co
n
tr
o
ller
to
m
a
n
ag
e
p
o
w
er
d
is
tr
ib
u
tio
n
a
n
d
p
r
o
v
id
e
t
elem
etr
y
d
ata
lik
e
v
o
ltag
e
an
d
cu
r
r
en
t.
Pro
p
er
b
atter
y
s
elec
tio
n
,
m
a
n
ag
em
e
n
t,
an
d
s
af
ety
p
r
ac
tices
ar
e
cr
itical
f
o
r
e
n
s
u
r
in
g
ef
f
icien
t f
lig
h
t o
p
er
atio
n
an
d
p
r
ev
en
tin
g
h
az
ar
d
s
s
u
ch
as o
v
er
-
d
is
ch
ar
g
e
o
r
o
v
er
h
ea
tin
g
.
2
.
6
.
RC
t
r
a
ns
m
it
t
er
a
nd
re
c
eiv
er
A
r
ad
io
c
o
n
tr
o
l
(
R
C
)
tr
an
s
m
itter
an
d
R
ec
eiv
er
s
y
s
tem
is
ess
en
tial
f
o
r
m
an
u
al
c
o
n
tr
o
l
o
f
a
q
u
ad
co
p
ter
,
allo
win
g
th
e
u
s
er
to
s
en
d
co
m
m
an
d
s
wir
eless
ly
f
r
o
m
th
e
g
r
o
u
n
d
to
th
e
air
cr
a
f
t.
T
h
e
tr
an
s
m
itter
,
h
eld
b
y
th
e
o
p
e
r
ato
r
,
s
en
d
s
co
n
tr
o
l
s
ig
n
als
—
s
u
ch
as
th
r
o
ttle,
p
itch
,
r
o
ll,
an
d
y
aw
—
o
v
er
a
s
p
ec
if
ic
r
ad
io
f
r
eq
u
e
n
cy
,
ty
p
ically
2
.
4
GHz
.
T
h
ese
s
ig
n
als
ar
e
r
ec
eiv
ed
b
y
th
e
R
C
r
ec
eiv
er
m
o
u
n
ted
o
n
th
e
d
r
o
n
e,
wh
ich
d
ec
o
d
es
th
em
an
d
p
ass
es
th
e
m
to
th
e
f
lig
h
t
co
n
tr
o
ller
(
lik
e
APM
2
.
8
)
v
ia
PW
M,
PP
M
o
r
s
er
ial
b
u
s
p
r
o
to
c
o
ls
.
T
h
is
s
y
s
tem
en
ab
les
r
ea
l
-
tim
e
p
ilo
tin
g
an
d
is
o
f
ten
u
s
ed
f
o
r
tak
eo
f
f
,
lan
d
i
n
g
,
o
r
as
a
b
ac
k
u
p
co
n
tr
o
l
m
eth
o
d
d
u
r
in
g
au
t
o
n
o
m
o
u
s
m
is
s
io
n
s
.
Ma
n
y
tr
a
n
s
m
itter
s
also
s
u
p
p
o
r
t
ad
d
itio
n
al
s
witch
es
an
d
ch
an
n
els
f
o
r
co
n
tr
o
llin
g
f
lig
h
t
m
o
d
es
o
r
tr
ig
g
e
r
in
g
o
n
b
o
ar
d
f
u
n
ctio
n
s
lik
e
ca
m
er
a
g
im
b
als,
m
ak
in
g
th
e
R
C
s
y
s
t
em
a
v
er
s
atile
an
d
cr
itical
co
m
p
o
n
e
n
t in
UAV
o
p
er
atio
n
s
.
2
.
7
.
G
P
S m
o
du
le
A
GPS
m
o
d
u
le
in
a
q
u
ad
co
p
ter
is
a
n
av
i
g
atio
n
d
ev
ice
th
at
p
r
o
v
id
es
r
ea
l
-
tim
e
g
e
o
lo
ca
tio
n
an
d
tim
e
d
ata
to
th
e
f
lig
h
t
co
n
tr
o
ller
,
e
n
ab
lin
g
au
to
n
o
m
o
u
s
f
lig
h
t
an
d
way
p
o
in
t
n
a
v
ig
atio
n
.
I
t
r
ec
eiv
es
s
ig
n
als
f
r
o
m
m
u
ltip
le
s
atellites
to
ca
lcu
late
th
e
d
r
o
n
e'
s
p
r
ec
is
e
latitu
d
e,
lo
n
g
itu
d
e,
a
n
d
altitu
d
e
,
wh
ic
h
ar
e
ess
en
tial
f
o
r
m
ain
tain
in
g
s
tab
le
p
o
s
itio
n
h
o
ld
,
ex
ec
u
tin
g
GPS
-
b
ased
m
is
s
io
n
s
,
an
d
r
etu
r
n
in
g
to
h
o
m
e
(
R
T
H)
in
ca
s
e
o
f
s
ig
n
al
lo
s
s
o
r
lo
w
b
atter
y
.
Ad
v
an
ce
d
m
o
d
u
les,
lik
e
th
e
Ub
lo
x
NE
O
M8
N,
also
in
clu
d
e
a
co
m
p
ass
(
m
ag
n
eto
m
ete
r
)
th
at
h
elp
s
t
h
e
f
lig
h
t
co
n
tr
o
ller
d
eter
m
in
e
th
e
d
r
o
n
e’
s
o
r
ie
n
tatio
n
.
T
h
e
GPS
m
o
d
u
le
co
m
m
u
n
icate
s
with
th
e
f
lig
h
t
co
n
tr
o
ller
th
r
o
u
g
h
UART
o
r
I
2
C
co
n
n
ec
tio
n
s
an
d
m
u
s
t
b
e
p
r
o
p
er
l
y
ca
lib
r
ate
d
an
d
p
o
s
itio
n
e
d
awa
y
f
r
o
m
m
a
g
n
etic
in
ter
f
er
e
n
ce
f
o
r
o
p
tim
al
p
er
f
o
r
m
an
ce
.
2
.
8
.
T
elem
et
r
y
T
elem
etr
y
m
o
d
u
le
r
ef
er
s
to
t
h
e
wir
eless
co
m
m
u
n
icatio
n
lin
k
b
etwe
en
th
e
d
r
o
n
e
an
d
th
e
g
r
o
u
n
d
co
n
tr
o
l statio
n
(
GC
S),
en
ab
lin
g
th
e
r
ea
l
-
tim
e
tr
an
s
m
is
s
io
n
o
f
f
lig
h
t d
ata
s
u
ch
as G
PS
p
o
s
it
i
o
n
,
altitu
d
e,
s
p
ee
d
,
b
atter
y
s
tatu
s
,
an
d
s
en
s
o
r
r
ea
d
in
g
s
.
T
y
p
ically
o
p
er
atin
g
o
n
f
r
eq
u
en
cies
lik
e
4
3
3
MH
z
o
r
9
1
5
MH
z,
telem
etr
y
m
o
d
u
les
allo
w
u
s
er
s
to
m
o
n
i
to
r
an
d
co
n
tr
o
l
a
u
to
n
o
m
o
u
s
m
is
s
io
n
s
th
r
o
u
g
h
s
o
f
twar
e
li
k
e
Miss
io
n
Plan
n
er
.
T
h
is
two
-
way
co
m
m
u
n
icatio
n
lets
th
e
o
p
er
ato
r
n
o
t
o
n
ly
r
ec
eiv
e
liv
e
d
ata
b
u
t
also
s
en
d
c
o
m
m
an
d
s
—
s
u
ch
as
ch
an
g
in
g
f
lig
h
t m
o
d
es o
r
u
p
d
a
tin
g
way
p
o
i
n
ts
—
d
u
r
in
g
f
lig
h
t
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
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&
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Ma
r
ch
20
2
6
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63
-
70
66
2
.
9
.
M
icro
a
ir
v
ehicle
lin
k
(
M
AV
L
ink
)
Mic
r
o
air
v
e
h
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lin
k
(
MA
VL
in
k
)
is
a
lig
h
tweig
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t,
o
p
en
-
s
o
u
r
ce
c
o
m
m
u
n
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p
r
o
to
c
o
l
d
esig
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ed
f
o
r
u
n
m
an
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ed
v
e
h
icles
s
u
ch
as
d
r
o
n
es
an
d
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o
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s
.
I
t
en
ab
les
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d
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e
liab
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ex
ch
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g
e
o
f
m
ess
ag
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etwe
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s
au
to
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ilo
t
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g
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d
c
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n
tr
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tatio
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s
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en
s
o
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s
,
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o
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o
m
p
u
ter
s
.
MA
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in
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s
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p
p
o
r
ts
r
ea
l
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tim
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telem
etr
y
,
co
m
m
an
d
an
d
co
n
tr
o
l
in
s
tr
u
ctio
n
s
,
m
is
s
io
n
p
l
an
n
in
g
,
an
d
s
tatu
s
r
ep
o
r
tin
g
,
m
ak
in
g
it
a
s
tan
d
ar
d
p
r
o
t
o
co
l
in
m
an
y
UAV
s
y
s
tem
s
.
I
ts
co
m
p
ac
t
m
ess
ag
e
f
o
r
m
at
o
p
tim
izes
b
an
d
wid
th
u
s
ag
e,
allo
win
g
s
tab
le
co
m
m
u
n
icatio
n
o
v
e
r
w
ir
eless
lin
k
s
with
lim
ited
d
a
ta
r
ates,
wh
ich
is
ess
en
tial f
o
r
s
af
e
an
d
r
esp
o
n
s
iv
e
au
to
n
o
m
o
u
s
f
lig
h
t o
p
er
atio
n
s
.
2
.
1
0
.
G
ro
un
d c
o
ntr
o
l st
a
t
io
n
A
g
r
o
u
n
d
c
o
n
tr
o
l
s
tatio
n
(
GC
S)
is
a
s
o
f
twar
e
in
ter
f
ac
e
o
r
h
ar
d
war
e
s
etu
p
u
s
ed
to
m
o
n
ito
r
,
co
n
tr
o
l,
an
d
co
m
m
u
n
icate
with
UAV
s
d
u
r
in
g
f
lig
h
t.
I
t
allo
ws
o
p
er
ato
r
s
to
p
lan
m
is
s
io
n
s
,
s
en
d
co
m
m
an
d
s
,
r
ec
eiv
e
r
ea
l
-
tim
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etr
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ata
s
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ch
as
p
o
s
itio
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,
s
p
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,
an
d
s
en
s
o
r
in
f
o
r
m
atio
n
,
a
n
d
ad
j
u
s
t
f
lig
h
t
p
ar
am
eter
s
lik
e
way
p
o
in
ts
an
d
f
lig
h
t
m
o
d
es.
T
h
e
GC
S
s
er
v
es
a
s
th
e
p
r
im
ar
y
lin
k
b
etwe
en
th
e
o
p
er
a
to
r
an
d
th
e
d
r
o
n
e,
p
r
o
v
id
i
n
g
v
is
u
aliza
tio
n
to
o
ls
s
u
ch
as
m
ap
s
a
n
d
f
lig
h
t
s
tatu
s
in
d
icato
r
s
to
en
h
a
n
ce
s
itu
ati
o
n
al
awa
r
en
ess
an
d
en
s
u
r
e
s
af
e,
ef
f
icien
t a
u
to
n
o
m
o
u
s
o
r
m
a
n
u
al
co
n
tr
o
l o
f
th
e
U
AV
th
r
o
u
g
h
o
u
t its
m
is
s
io
n
.
2
.
1
1
.
M
is
s
io
n
P
la
nn
er
s
o
f
t
wa
re
Miss
io
n
Plan
n
er
is
a
p
o
p
u
la
r
,
o
p
en
-
s
o
u
r
ce
g
r
o
u
n
d
co
n
tr
o
l
s
t
atio
n
s
o
f
twar
e
d
esig
n
e
d
s
p
ec
i
f
ically
f
o
r
co
n
f
ig
u
r
in
g
,
m
o
n
ito
r
in
g
,
a
n
d
co
n
tr
o
llin
g
UAVs
r
u
n
n
in
g
th
e
Ar
d
u
Pil
o
t
a
u
to
p
ilo
t
s
y
s
tem
.
I
t
p
r
o
v
id
es
a
u
s
er
-
f
r
ien
d
ly
g
r
ap
h
ical
in
ter
f
ac
e
f
o
r
p
lan
n
in
g
a
u
to
n
o
m
o
u
s
m
is
s
io
n
s
b
y
s
ettin
g
way
p
o
in
ts
,
co
n
f
ig
u
r
in
g
f
lig
h
t
p
ar
am
eter
s
,
an
d
u
p
lo
ad
i
n
g
m
is
s
io
n
s
cr
ip
ts
to
th
e
d
r
o
n
e
.
Miss
io
n
Plan
n
er
also
o
f
f
er
s
r
ea
l
-
tim
e
telem
etr
y
m
o
n
ito
r
in
g
,
f
lig
h
t
d
ata
lo
g
g
i
n
g
,
an
d
ad
v
a
n
ce
d
to
o
ls
f
o
r
ca
l
ib
r
atin
g
s
en
s
o
r
s
.
W
id
ely
u
s
ed
b
y
h
o
b
b
y
is
ts
an
d
r
esear
ch
er
s
,
it
s
im
p
lifie
s
th
e
p
r
o
ce
s
s
o
f
m
an
ag
i
n
g
co
m
p
lex
f
lig
h
t
o
p
er
atio
n
s
,
en
s
u
r
in
g
p
r
ec
is
e
n
av
ig
atio
n
an
d
s
tab
le
au
to
n
o
m
o
u
s
f
lig
h
t.
3.
H
ARDWA
R
E
I
N
T
E
G
R
AT
I
O
N
T
h
e
co
m
p
o
n
e
n
t
ass
em
b
ly
o
f
a
q
u
ad
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p
ter
u
s
in
g
th
e
AP
M
2
.
8
f
lig
h
t
c
o
n
tr
o
ller
as
il
lu
s
tr
ate
in
Fig
u
r
e
2
.
At
th
e
ce
n
ter
o
f
th
e
f
r
am
e
is
APM
2
.
8
,
wh
ich
ac
ts
as
th
e
m
ai
n
c
o
n
tr
o
l
u
n
it,
c
o
n
n
ec
ted
to
a
GPS
m
o
d
u
le
f
o
r
n
av
ig
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n
a
n
d
a
telem
etr
y
r
ec
eiv
er
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o
r
co
m
m
u
n
icatio
n
with
th
e
g
r
o
u
n
d
s
tati
o
n
.
A
L
iPo
b
atter
y
s
u
p
p
lies
p
o
wer
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e
s
y
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tem
th
r
o
u
g
h
a
p
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d
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le,
wh
i
ch
also
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r
o
v
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d
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cu
r
r
en
t
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ito
r
in
g
.
An
ON/OFF
s
witch
is
in
clu
d
ed
f
o
r
s
af
e
p
o
wer
m
an
a
g
em
e
n
t
d
u
r
in
g
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etu
p
an
d
o
p
er
atio
n
.
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h
e
r
ad
io
r
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eiv
er
allo
ws m
an
u
al
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n
tr
o
l in
p
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t
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m
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r
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itter
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h
ar
m
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u
a
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ter
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eq
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ip
p
ed
with
a
B
r
u
s
h
less
DC
(
B
L
DC
)
m
o
to
r
co
n
tr
o
lled
b
y
an
E
SC
.
T
h
ese
m
o
to
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s
ar
e
r
esp
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ib
le
f
o
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ilit
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u
r
in
g
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s
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ted
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h
e
E
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eiv
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ig
n
als
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r
o
m
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t
m
o
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ased
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h
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d
itio
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s
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h
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co
n
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ig
u
r
atio
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u
p
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o
r
ts
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o
th
m
a
n
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al
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d
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t
o
n
o
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o
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s
o
p
e
r
atio
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s
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m
a
k
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g
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h
e
p
latf
o
r
m
s
u
itab
le
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o
r
r
esear
ch
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d
ap
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licatio
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u
ch
as a
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ial
m
ap
p
in
g
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d
p
r
ec
is
io
n
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r
icu
ltu
r
e
.
Fig
u
r
e
2
.
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em
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ly
o
f
a
q
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ad
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o
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ter
co
m
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4.
RE
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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Dev
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g
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1
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cr
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ate
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o
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li
g
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h
s
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r
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a
n
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r
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as
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g
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r
e
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r
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7
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y
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i
n
ts
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g
e
n
e
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te
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t
o
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h
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ad
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ili
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o
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li
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ar
s
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m
en
ts
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m
a
k
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r
at
e
4
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r
n
s
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t
h
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r
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s
t
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o
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u
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d
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o
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a
in
t
ai
n
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n
s
is
te
n
t
t
u
r
n
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g
r
ate
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d
e
v
al
u
ate
its
a
b
i
lit
y
to
f
o
ll
o
w
s
h
a
r
p
c
o
r
n
e
r
.
(
a)
(
b
)
Fig
u
r
e
3
.
Fli
g
h
t
t
r
ajec
to
r
ies o
f
(
a)
zig
za
g
a
n
d
(
b
)
s
u
r
v
ey
g
r
id
T
ab
le
1
.
Deta
il o
f
f
lig
h
t p
at
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n
a
r
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e
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t
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f
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y
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n
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s
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l
i
g
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T
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r
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r
o
r
(
R
MSE
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,
as
in
d
icate
d
in
(
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,
is
u
s
ed
to
co
m
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ar
e
th
e
ac
tu
al
GP
S
tr
ajec
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y
o
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ch
f
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p
e
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en
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ata
with
th
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ten
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d
tr
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h
en
th
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way
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is
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n
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m
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th
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al
f
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t tr
ajec
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ep
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ted
b
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̂
.
=
√
∑
=
1
(
̂
−
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2
(
1
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4
.
1
.
Z
ig
za
g
w
a
y
po
int
T
h
e
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h
t
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er
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m
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ce
o
f
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h
e
q
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ad
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o
p
ter
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in
wa
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in
t
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av
ig
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ass
es
s
ed
b
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co
m
p
ar
in
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e
d
esire
d
tr
ajec
to
r
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y
ello
w)
to
th
e
ac
tu
al
tr
ajec
to
r
y
(
p
u
r
p
le
)
as
s
h
o
wn
in
Fig
u
r
e
4
.
Desp
ite
m
in
o
r
d
ev
iatio
n
s
,
th
e
UAV
s
u
cc
ess
f
u
lly
f
o
llo
wed
th
e
in
ten
d
ed
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za
g
p
at
h
with
h
ig
h
ac
cu
r
ac
y
.
T
h
e
tr
ajec
to
r
y
v
is
u
aliza
tio
n
h
ig
h
lig
h
ts
in
th
e
b
eg
in
n
in
g
th
at
th
e
q
u
a
d
co
p
ter
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p
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ien
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d
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h
t o
v
er
s
h
o
o
ts
d
u
r
in
g
f
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llo
w
p
at
h
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u
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was
g
e
n
er
ally
a
b
le
to
r
ec
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v
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an
d
alig
n
with
th
e
p
lan
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ed
r
o
u
te.
T
h
e
ac
co
m
p
an
y
i
n
g
R
MSE
d
ata
q
u
an
tifie
s
th
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p
er
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m
a
n
ce
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T
a
b
le
2
)
,
s
h
o
win
g
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e
r
y
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m
all
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iatio
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s
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lo
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er
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2
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le
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e
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o
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t
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h
t
.
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h
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n
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ir
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th
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Ar
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Pil
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h
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itio
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with
m
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im
al
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r
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r
th
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e
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ain
s
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in
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ce
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tab
le
o
p
er
atio
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al
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o
ler
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ce
s
f
o
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ty
p
i
ca
l
UAV
n
av
ig
atio
n
ap
p
licatio
n
s
.
Fig
u
r
e
4
.
T
r
ajec
to
r
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o
f
Z
ig
za
g
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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ased
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a
s
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r
v
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ajec
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wn
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y
a
q
u
a
d
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p
ter
d
u
r
in
g
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t
o
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o
m
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s
way
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t
m
is
s
io
n
.
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h
e
y
ello
w
p
ath
r
e
p
r
esen
ts
th
e
d
esire
d
tr
ajec
to
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y
,
w
h
ile
th
e
p
u
r
p
le
p
ath
in
d
icate
s
th
e
ac
tu
al
tr
ajec
to
r
y
f
lo
wn
b
y
th
e
UAV
as
s
h
o
wn
in
Fig
u
r
e
5
.
T
h
e
q
u
ad
co
p
ter
f
o
llo
ws
a
s
u
r
v
ey
g
r
id
p
atter
n
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e
r
th
e
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u
r
v
ey
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ea
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ig
h
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h
ts
th
e
q
u
ad
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p
ter
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p
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ien
ce
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h
t
o
v
er
s
h
o
o
ts
d
u
r
in
g
tu
r
n
co
r
n
e
r
b
u
t
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en
er
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le
to
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lan
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o
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[
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6
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5
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6
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h
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h
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s
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sy
ste
m
s,
AI,
m
a
c
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rd
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g
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n
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lay
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h
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la
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a
rd
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f
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h
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h
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t
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g
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tern
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ti
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a
l
As
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o
f
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n
g
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rs
(IAENG
).
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c
a
n
b
e
c
o
n
tac
ted
a
t
a
riff
a
n
a
n
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e
.
u
t
m
.
m
y
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in
u
r
r
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shi
d
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r
d
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tu
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lt
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Tec
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n
g
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,
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i
v
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rsiti
Tek
n
i
k
a
l
M
a
la
y
sia
M
e
lak
a
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M
).
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e
x
p
e
rti
se
c
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v
e
rs
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o
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li
n
e
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r
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n
tr
o
l
sy
ste
m
s,
ro
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o
ti
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s,
a
u
t
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m
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ti
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d
d
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s
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s,
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d
u
n
m
a
n
n
e
d
a
e
rial
v
e
h
icle
s
(UA
V
s).
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re
se
a
r
c
h
p
a
rti
c
u
larly
fo
c
u
se
s
o
n
a
d
v
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n
c
e
d
c
o
n
tr
o
l
tec
h
n
iq
u
e
s
fo
r
q
u
a
d
ro
to
r
d
r
o
n
e
s
,
in
c
l
u
d
i
n
g
P
ID,
slid
in
g
m
o
d
e
,
fu
z
z
y
l
o
g
ic,
a
n
d
a
d
a
p
t
iv
e
c
o
n
tro
l.
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h
a
s
p
u
b
l
ish
e
d
i
n
j
o
u
rn
a
ls,
a
u
t
h
o
re
d
b
o
o
k
c
h
a
p
ters
,
a
n
d
p
re
se
n
ted
a
t
lo
c
a
l
a
n
d
in
tern
a
ti
o
n
a
l
c
o
n
fe
re
n
c
e
s
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n
d
in
n
o
v
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t
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n
c
o
m
p
e
ti
t
io
n
s.
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is
a
m
e
m
b
e
r
o
f
th
e
B
o
a
rd
o
f
En
g
i
n
e
e
rs
M
a
lay
sia
(B
EM
)
a
n
d
th
e
M
a
lay
sia
Bo
a
rd
o
f
Tec
h
n
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l
o
g
ists
(M
BOT)
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
a
m
in
u
rra
sh
id
@
u
tem
.
e
d
u
.
m
y
.
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