Key Components for

Autonomous Flight

26
In any system, ask how the following
components work!
State Estimation

Control

Mapping

Planning

27
In any system, ask how the following
components work!
State Estimation estimate the position and velocity
(including rotation and angular
Control velocity of the robot)

Mapping

Planning

28
In any system, ask how the following
components work!
State Estimation
command motors and produce
Control desired actions in order to navigate
to desired state
Mapping

Planning

29
In any system, ask how the following
components work!
State Estimation

Control

Mapping

Planning

30
 height, one might ponder the question of the computational j
complexity with respect to the size of the forest measured in g
area. As shown in [1], the shortest path to a point at infinity in
In any system, ask how the following
an ergodic forest is likely to be relatively straight if it exists.
Assuming a constant density of trees, the number of obstacles
components work!
would proportional to the area b = O(A). The length of path
returned by Djikstra is expected to be straight, so it will be of
length O(A0.5 ) and therefore the QP complexity is O(A1.75 )
which dominates the search complexity of O(A log A).
State Estimation
C. Numerical results

Control

Mapping

Planning

Fig. 9. Obstacle Visualization 31