Component Architecture for a Combined Indoor and Outdoor Aerial Reconnaissance System

Abstract

This paper complements the previous publication, by the Waterloo Aerial Robotics Group (WARG), that describes the design strategy for a system of autonomous air vehicles for the International Aerial Robotics Competition (IARC). The vehicles will have the combined capability of flying autonomously to a target building, identifying the building and an opening in it, entering the building, and navigating through it in order to locate and photograph a target object. This paper offers a more in-depth description of the major components of the overall system.