Snake Aerial Manipulators: A Review <s> III. DESIGN CONSIDERATIONS OF ELECTRONICS, PROGRAMMING AND CONTROL A. GENERAL UAV DESIGN IMPLICATIONS <s> We provide a novel hardware and software system for micro air vehicles (MAV) that allows high-speed, low-latency onboard image processing. It uses up to four cameras in parallel on a miniature rotary wing platform. The MAV navigates based on onboard processed computer vision in GPS-denied in- and outdoor environments. It can process in parallel images and inertial measurement information from multiple cameras for multiple purposes (localization, pattern recognition, obstacle avoidance) by distributing the images on a central, low-latency image hub. Furthermore the system can utilize low-bandwith radio links for communication and is designed and optimized to scale to swarm use. Experimental results show successful flight with a range of onboard computer vision algorithms, including localization, obstacle avoidance and pattern recognition. <s> BIB001 </s> Snake Aerial Manipulators: A Review <s> III. DESIGN CONSIDERATIONS OF ELECTRONICS, PROGRAMMING AND CONTROL A. GENERAL UAV DESIGN IMPLICATIONS <s> This paper presents a framework to deal with outdoor navigation using an AR.Drone Parrot quadrotor. The proposed system runs in a centralized computer, the ground station, responsible for the communication with the unmanned aerial vehicle (UAV) and for synthesizing the control signals during flight missions. The outdoor navigation is performed through using a layered control architecture, where a high-level control algorithm, designed from the kinematic differential equations describing the movement of the UAV, is used to generate reference signals for a low-level velocity controller. To feedback the controllers, the sensorial data provided by the AR.Drone onboard sensors and a GPS module are fused through a Kalman Filter, allowing getting a more reliable estimate of the UAV state. Finally, experimental results are presented, which demonstrate the effectiveness of the proposed framework. <s> BIB002 </s> Snake Aerial Manipulators: A Review <s> III. DESIGN CONSIDERATIONS OF ELECTRONICS, PROGRAMMING AND CONTROL A. GENERAL UAV DESIGN IMPLICATIONS <s> Recently, multi-rotor unmanned aerial vehicles (UAVs) have grown rapidly in popularity due to their simple structure, low cost and ease of operation. And they have been widely used in both academic research and commercial applications. As a core component of UAV, autopilot is normally used to realize autonomous control and navigation, including platform stabilization, flight trajectory generation, mission planning and so on. In this paper, we present a survey of existing autopilots for multi-rotor UAVs. First, we will introduce background and principle configuration of autopilots. Second, we will compare and analyze several popular autopilots in the market. Besides, several quality control methodologies will be introduced to improve the reliability and robustness of autopilots. Finally, we will discuss possible trend and technologies for autopilots in future. <s> BIB003 </s> Snake Aerial Manipulators: A Review <s> III. DESIGN CONSIDERATIONS OF ELECTRONICS, PROGRAMMING AND CONTROL A. GENERAL UAV DESIGN IMPLICATIONS <s> In this paper, a generic approach to attitude and position estimation, suited for any type of unmanned aerial vehicle, is presented. This will be achieved by establishing a generic framework, which can be extended using adaptive methods to determine the thrust properties of the engines and the mass of the aircraft, while keeping the overall computational complexity of the system low. Furthermore, the effect of magnetic disturbances will be reduced in a novel way by confining the magnetic errors to affect only heading, without compromising the pitch and roll estimation of the system with error-based estimation. The efficacy of the proposed framework will be evaluated through extended simulations and experimental validations on a multirotor. Finally, guidelines will be provided toward: 1) an implementation with a reduced computational complexity and 2) the utilization of the square-root formulations of the extended Kalman filter for extending the dynamic range of the filter. <s> BIB004
Generic software and electronics design implications of UAVs, are collected in  , BIB001 BIB004 BIB002   BIB003 . Each one of the elements described has different operating frequencies, in this way, a real time operating system (RTOS) is required to schedule proper reading, processing, storage, hierarchy and execution, those elements are: