Software design for dual-computer configuration of aerial robots
Author(s)Quilter, Sebastian Andrés.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.
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Recent advances in computing have lead to low-power computers with powerful graphics processing units that can fit on common micro aerial robotics platforms. These computers carry the computational firepower to run complex algorithms, including deep learning tasks and vision-based state estimation. However, they typically lack the hardware and software for real-time control and state estimation, which is critical in aerial robotics applications. An effective solution to this problem is a dual-computer design which splits the workload between a timing-critical microcontroller and a high-performance processor. This thesis describes the implementation of certain pieces of software for this design, and the communication between the two processors.
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, May, 2020Cataloged from the official PDF of thesis.Includes bibliographical references (page 31).
DepartmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology
Electrical Engineering and Computer Science.