Abstract:
Visual-inertial odometry has demonstrated the ability to turn a traditional micro-aerial vehicle (MAV) into an advanced platform for aerial robotics. Traditional MAV platforms suffer from strict weight limitations and in some cases flight controllability issues. Qualcomm's Snapdragon Flight™ is utilized to solve both of these problems. It is chosen due to its low weight and high processing power. Results show sufficient controllability to conclude feasibility using Snapdragon Flight™ in GPS-denied environments and onboard unconventional MAV frames. This study is presented with a generic quadrotor configuration. Methods are presented for achieving generic MAV autonomy as well as extending autonomy to more unconventional MAV configurations.